Variable-damper variable-inertial device

Abstract

This invention proposes a variable damping and variable inertia-capacity device, relating to the technical field of vibration reduction and isolation devices. The invention includes a linear motion unit and a rotary motion unit, connected by a pipeline. This invention utilizes changes in current / magnetic field to adjust the shear yield stress of the magnetorheological fluid within the rotary motion unit, thereby controlling the rotational speed of the driven component within the rotary motion unit and achieving adjustment of the inertia-capacity coefficient. When slip exists between the driving and driven components, and between the driven component and the cylinder of the rotary motion unit, damping regulated by current / magnetic field is output. Simultaneously, the linear motion unit also provides controllable damping. Through the adjustment of inertia-capacity and damping, this invention can meet the output force requirements of different vibration reduction and isolation conditions.

Description

Technical Field

[0001] This invention relates to the field of vibration reduction and isolation devices, and in particular to a variable damping and variable inertia capacity device. Background Technology

[0002] To improve the mobility, stability, reliability, and lifespan of precision components in intelligent, fast-moving robots, it is necessary to install suitable vibration damping and isolation devices on the robot chassis. However, traditional passive vibration damping and isolation devices cannot simultaneously provide good adaptability to different working conditions, thus requiring further improvement in the performance of traditional vibration damping and isolation systems. Vibration damping and isolation devices include damping elements, stiffness elements, and mass elements. Improving the mass element to enhance vibration damping and isolation performance is an effective method. The inertial container, as a novel mass element whose output force is proportional to acceleration, has a mass amplification effect, generating inertial mass hundreds of times its own physical mass. Considering the low energy consumption and high reliability of semi-active control systems, using semi-actively controlled inertial containers would help improve the performance of the vibration damping and isolation system. However, a single variable inertial container is insufficient for adaptive energy dissipation; therefore, it needs to be combined with variable damping to achieve an overall improvement in the performance of the vibration damping and isolation system.

[0003] From a principle perspective, inertial control components include rack and pinion, ball screw, hydraulic, and other types. Rack and pinion inertial control systems suffer from backlash during assembly. This backlash between gears causes system delays and instantaneous impacts during changes in motion direction, reducing the device's lifespan. Ball screw inertial control systems have no backlash, but experience higher friction. Hydraulic inertial control systems, using slender tubes or spiral tubes, avoid the rigid collisions of mechanical inertial control systems and offer fast response times. However, achieving a significant inertial capacity effect requires larger structural dimensions and heavier piping, and control via valves on each pipe is complex. Hydraulic inertial control systems using hydraulic motors offer shock resistance and can convert linear to rotational motion with a single motor, effectively reducing component size. However, current inertial capacity adjustment primarily relies on hydraulic oil flow, limiting the adjustment range. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention proposes a variable damping and variable inertia capacity device; aiming to achieve real-time continuous adjustment of damping and inertia capacity coefficients, reduce the transmission of vibration energy, and thereby improve the mobility, stability, reliability and lifespan of intelligent fast-moving robots.

[0005] The variable damping and variable inertia-capacitance device proposed in this invention includes a linear motion unit and a rotary motion unit, wherein the linear motion unit and the rotary motion unit are connected by a pipeline; wherein:

[0006] The linear motion unit consists of a linear unit cylinder, an upper end cover, a lower end cover, an upper piston rod, a lower piston rod, an upper sealing piston, a lower sealing piston, an intermediate rod, an iron core assembly, an excitation coil, a sealing ring 1, and a sealing ring 2. The linear unit cylinder, the upper sealing piston, and the lower sealing piston form a closed space, and the cavity inside the closed space is filled with magnetorheological fluid.

[0007] The pipeline is filled with hydraulic oil; the space formed by the linear unit cylinder, the upper end cover, and the upper sealing piston is filled with hydraulic oil; the space formed by the linear unit cylinder, the lower end cover, and the lower sealing piston is filled with hydraulic oil.

[0008] The core assembly includes core 1, core 2, and core 3. Core 1 and core 3 are magnetically conductive, while core 2 is a non-magnetically conductive component. Core 2 is fixedly connected to core 1 and core 3 respectively, forming a core groove. The excitation coil is installed in the core groove. The inner walls of core 1, core 2, and core 3 are helical in shape and form a helical channel with the outer side of the intermediate rod. The helical channel is used for the flow of magnetorheological fluid to generate controllable damping.

[0009] The rotary motion unit includes a force amplification mechanism and a rotary multi-stage mass block adjustment unit. The force amplification mechanism uses hydraulic oil as a medium, and the rotary multi-stage mass block adjustment unit uses magnetorheological fluid as a medium.

[0010] The rotary multi-stage mass block adjustment unit includes a rotary unit cylinder, a driving component, a driven component 1, a driven component 2, an excitation coil 1, and an excitation coil 2.

[0011] The driving component includes a shaft, a disk 1, a disk 2, an excitation coil 3, and an excitation coil 4; the driving component includes a left side portion and a right side portion, the left side portion includes the left side portion of the shaft, the disk 1, and the excitation coil 3; the right side portion includes the right side portion of the shaft, the disk 2, and the excitation coil 4. The excitation coil 1 is located inside the cylinder of the rotating unit on the left side, and the excitation coil 2 is located inside the cylinder of the rotating unit on the right side. The annular gap formed between the inner side of the rotating unit cylinder and the outer side of the driven member 1 is the outer working area 1, and the annular gap formed between the inner side of the rotating unit cylinder and the outer side of the driven member 2 is the outer working area 2. The sealed gap formed between the driven member 1 and the left side of the driving member is the inner working area 1, and the sealed gap formed between the driven member 2 and the right side of the driving member is the inner working area 2. The outer working area 1, the outer working area 2, the inner working area 1, and the inner working area 2 are filled with magnetorheological fluid. There is a cavity between the driven member 1 and the driven member 2.

[0012] According to the variable damping variable inertia device proposed in this invention, the force amplification mechanism is a motor.

[0013] According to the variable damping variable inertia-capacity device proposed in this invention, when the upper piston rod, the upper sealing piston, the intermediate rod, the lower sealing piston, and the lower piston rod perform synchronous reciprocating motion, the magnetorheological fluid flows reciprocally within the spiral channel. By adjusting the excitation coil, the shear yield stress of the magnetorheological fluid is changed, thereby changing the damping force output by the variable damping variable inertia-capacity device. Simultaneously, the hydraulic oil flows reciprocally within the pipeline and the force amplification mechanism, driving the active component of the rotary multi-stage mass block adjustment unit to reciprocate.

[0014] According to the variable damping and variable inertia capacity device proposed in this invention, the excitation coil 1 and the excitation coil 2 respectively adjust the shear yield stress of the magnetorheological fluid in the outer working region 1 and the outer working region 2, and the excitation coil 3 and the excitation coil 4 respectively adjust the shear yield stress of the magnetorheological fluid in the inner working region 1 and the inner working region 2.

[0015] According to the variable damping and variable inertia capacitance device proposed in this invention, the rotational speeds of the driven member 1 and the driven member 2 are controlled by adjusting the current values ​​of the excitation coil 1, the excitation coil 2, the excitation coil 3, and the excitation coil 4, wherein the current values ​​are determined by the requirements of inertia capacitance and damping.

[0016] According to the variable damping variable inertia-capacitance device proposed in this invention, when the driving member moves, current is applied to the excitation coil 3 but not to the excitation coil 4. Combined with the current applied to the excitation coil 1 and the excitation coil 2, when the magnetorheological fluid shear yield stress excited by the magnetic field generated by the current drives the driven member 1 to move, the inertia of the device increases; wherein:

[0017] If the driving member and the driven member 1 move in the same direction but at different speeds, the rotational speed of the driven member 1 can be adjusted by regulating the current, thereby increasing the inertia; the inner working area 1 and the outer working area 1 output controllable slip damping.

[0018] If the active component and the driven component 1 move in the same direction and at the same speed, and the rotational speed of the driven component 1 increases to match the rotational speed of the active component, and the inertia increment brought by the driven component 1 reaches its peak value by adjusting the current, then the inner working region 1 does not output damping, and the outer working region 1 outputs controllable slip damping.

[0019] According to the variable damping variable inertia-capacitance device proposed in this invention, when the driving member moves, current is applied to the excitation coil 4 but not to the excitation coil 3. Combined with the current applied to the excitation coil 1 and the excitation coil 2, when the magnetorheological fluid shear yield stress excited by the magnetic field generated by the current drives the driven member 2 to move, the inertia of the device increases; wherein:

[0020] If the driving member and the driven member 2 move in the same direction but at different speeds, the rotational speed of the driven member 2 can be adjusted by regulating the current, and the inertia will increase; the inner working area 2 and the outer working area 2 will output controllable slip damping.

[0021] If the driving member and the driven member 2 move in the same direction and at the same speed, and the rotational speed of the driven member 2 increases to match the rotational speed of the driving member, and the inertia increment brought by the driven member 2 reaches its peak value by adjusting the current, then the inner working region 2 does not output damping, and the outer working region 2 outputs controllable slip damping.

[0022] According to the variable damping variable inertia-capacitance device proposed in this invention, when the driving member moves, current is applied to the excitation coil 3 and simultaneously to the excitation coil 4. Combined with the current applied to the excitation coil 1 and the excitation coil 2, when the magnetic field generated by the current induces the shear yield stress of the magnetorheological fluid, driving the driven member 1 and the driven member 2 to move, the inertia of the device increases; wherein:

[0023] If the active component and the driven component 1, and the active component and the driven component 2, move in the same direction but at different speeds, the rotational speed of the driven component 1 and the driven component 2 can be adjusted by regulating the current, thereby increasing the inertia; the inner working area 1, the outer working area 1, the inner working area 2, and the outer working area 2 output controllable slip damping.

[0024] If the driving member and the driven member 1 move in the same direction but at different speeds, and the driving member and the driven member 2 move in the same direction and at the same speed, the rotational speed of the driven member 1 is adjusted by regulating the current, and the inertia increases; the inertia increment brought by the driven member 2 is adjusted by regulating the current to reach the peak value; then the inner working region 2 does not output damping, and the inner working region 1, the outer working region 1, and the outer working region 2 output controllable slip damping.

[0025] If the driving member and the driven member 1 move in the same direction and at the same speed, and the driving member and the driven member 2 move in the same direction but at different speeds, the inertia increment brought by the driven member 1 is made to reach its peak value by adjusting the current; the rotational speed of the driven member 2 is controlled by adjusting the current, and the inertia increases; then the inner working region 1 does not output damping, and the outer working region 1, the inner working region 2, and the outer working region 2 output controllable slip damping.

[0026] If the active component and the driven component 1, and the active component and the driven component 2, move in the same direction and at the same speed, and the rotational speeds of the driven component 1 and the driven component 2 are increased to match the rotational speed of the active component, and the inertia increment brought by the driven component 1 and the driven component 2 is adjusted to reach its peak value, then the inner working region 1 and the inner working region 2 do not output damping, and the outer working region 1 and the outer working region 2 output controllable slip damping.

[0027] In summary, the technical solution of this invention utilizes current to regulate the magnetic field, and adjusts the shear yield stress of the magnetorheological fluid by changing the magnetic field, thereby controlling the rotational speed of the driven component and adjusting the inertial capacitance coefficient. When a slip effect exists between the driving and driven components, the shear damping between them also changes with the current, causing the device's damping to change with the current as well. Simultaneously, the magnetorheological valve within the cylinder of the device provides controllable damping, which is beneficial for providing a larger adjustable damping range to meet the needs of different vibration reduction and isolation conditions. The proposed device can provide real-time and continuously adjustable damping and inertial capacitance effects; it avoids the shortcomings of unadjustable damping and inertial capacitance, and by comprehensively controlling inertial capacitance and damping, it can effectively improve the performance of the vibration reduction and isolation system; utilizing the adjustable effect of the magnetorheological fluid, it has the characteristic of short response time. Real-time continuous adjustment of the damping and inertial capacitance coefficients is achieved, reducing the transmission of vibration energy, thereby improving the mobility, stability, reliability, and lifespan of precision components of intelligent fast-moving robots. Attached Figure Description

[0028] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0029] Figure 1 This is a schematic diagram of a variable damping variable inertia capacity device according to an embodiment of the present invention. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0031] like Figure 1 As shown, the variable damping and variable inertia capacity device proposed in this invention mainly consists of two parts: a linear motion unit and a rotary motion unit. The linear motion unit and the rotary motion unit are connected by pipelines.

[0032] The linear motion unit comprises a linear unit cylinder, an upper end cover, a lower end cover, an upper piston rod, a lower piston rod, an upper sealing piston, a lower sealing piston, an intermediate rod, an iron core assembly, an excitation coil, and sealing rings 1 and 2. The linear unit cylinder, the upper sealing piston, and the lower sealing piston form a closed space, and the cavity inside the closed space is filled with magnetorheological fluid. The pipeline is filled with hydraulic oil; the space formed by the linear unit cylinder, the upper end cover, and the upper sealing piston is filled with hydraulic oil; the space formed by the linear unit cylinder, the lower end cover, and the lower sealing piston is filled with hydraulic oil.

[0033] The core assembly includes core 1, core 2, and core 3. Core 1 and core 3 are magnetically conductive, while core 2 is a non-magnetically conductive component. Core 2 is fixedly connected to core 1 and core 3 respectively, forming a core groove. The excitation coil is installed in the core groove. The inner walls of core 1, core 2, and core 3 are helical in shape and form a helical channel with the outer side of the intermediate rod. The helical channel is used for the flow of magnetorheological fluid to generate controllable damping.

[0034] The rotary motion unit includes a force amplification mechanism and a rotary multi-stage mass block adjustment unit. The force amplification mechanism can be a motor of different types or other components with this function, and its interior is filled with hydraulic oil. The working area of ​​the rotary multi-stage mass block adjustment unit is filled with magnetorheological fluid.

[0035] When the upper piston rod, the upper sealing piston, the intermediate rod, the lower sealing piston, and the lower piston rod reciprocate synchronously, the magnetorheological fluid flows back and forth in the spiral channel. By adjusting the excitation coil, the shear yield stress of the magnetorheological fluid is changed, thereby changing the damping force output by the variable damping variable inertia-capacitance device. At the same time, the hydraulic oil flows back and forth in the pipeline and the force amplification mechanism, and drives the active component of the rotary multi-stage mass block adjustment unit to reciprocate.

[0036] The rotary multi-stage mass block adjustment unit includes a rotary unit cylinder, a driving component, a driven component 1, a driven component 2, an excitation coil 1, and an excitation coil 2.

[0037] The rotary multi-stage mass block adjustment unit consists of a rotary unit cylinder, a driving element, a driven element 1, a driven element 2, an excitation coil 1, and an excitation coil 2.

[0038] The driving component includes a shaft, a disk 1, a disk 2, an excitation coil 3, and an excitation coil 4; the driving component includes a left side portion and a right side portion, the left side portion includes the left side portion of the shaft, the disk 1, and the excitation coil 3; the right side portion includes the right side portion of the shaft, the disk 2, and the excitation coil 4.

[0039] The excitation coil 1 is located inside the cylinder of the rotating unit on the left side, and the excitation coil 2 is located inside the cylinder of the rotating unit on the right side. The annular gap formed between the inner side of the rotating unit cylinder and the outer side of the driven member 1 is the outer working area 1, and the annular gap formed between the inner side of the rotating unit cylinder and the outer side of the driven member 2 is the outer working area 2. The sealed gap formed between the driven member 1 and the left side of the driving member is the inner working area 1, and the sealed gap formed between the driven member 2 and the right side of the driving member is the inner working area 2. The outer working area 1, the outer working area 2, the inner working area 1, and the inner working area 2 are filled with magnetorheological fluid. There is a cavity between the driven member 1 and the driven member 2.

[0040] The excitation coil 1 and the excitation coil 2 respectively adjust the shear yield stress of the magnetorheological fluid in the outer working region 1 and the outer working region 2, and the excitation coil 3 and the excitation coil 4 respectively adjust the shear yield stress of the magnetorheological fluid in the inner working region 1 and the inner working region 2.

[0041] The rotational speeds of the driven member 1 and the driven member 2 are controlled by adjusting the current values ​​of the excitation coil 1, the excitation coil 2, the excitation coil 3, and the excitation coil 4. The current values ​​are determined by the requirements of inertial capacitance and damping.

[0042] In some embodiments, when the driving member moves, current is applied to the excitation coil 3 but not to the excitation coil 4. Combined with the currents applied to the excitation coils 1 and 2, when the magnetorheological fluid shear yield stress excited by the magnetic field generated by the current drives the driven member 1 to move, the inertia of the device increases; wherein:

[0043] If the driving member and the driven member 1 move in the same direction but at different speeds, the rotational speed of the driven member 1 can be adjusted by regulating the current, thereby increasing the inertia; the inner working area 1 and the outer working area 1 output controllable slip damping.

[0044] If the active component and the driven component 1 move in the same direction and at the same speed, and the rotational speed of the driven component 1 increases to match the rotational speed of the active component, and the inertia increment brought by the driven component 1 reaches its peak value by adjusting the current, then the inner working region 1 does not output damping, and the outer working region 1 outputs controllable slip damping.

[0045] In some embodiments, when the driving member moves, current is applied to the excitation coil 4 but not to the excitation coil 3. Combined with the currents applied to the excitation coils 1 and 2, when the magnetorheological fluid shear yield stress excited by the magnetic field generated by the current drives the driven member 2 to move, the inertia of the device increases; wherein:

[0046] If the driving member and the driven member 2 move in the same direction but at different speeds, the rotational speed of the driven member 2 can be adjusted by regulating the current, and the inertia will increase; the inner working area 2 and the outer working area 2 will output controllable slip damping.

[0047] If the driving member and the driven member 2 move in the same direction and at the same speed, and the rotational speed of the driven member 2 increases to match the rotational speed of the driving member, and the inertia increment brought by the driven member 2 reaches its peak value by adjusting the current, then the inner working region 2 does not output damping, and the outer working region 2 outputs controllable slip damping.

[0048] In some embodiments, when the driving member moves, current is applied to the excitation coil 3 and simultaneously to the excitation coil 4. Combined with the currents applied to the excitation coils 1 and 2, when the magnetic field generated by the current induces the shear yield stress of the magnetorheological fluid, driving the driven member 1 and driven member 2 to move, the inertia of the device increases; wherein:

[0049] If the active component and the driven component 1, and the active component and the driven component 2, move in the same direction but at different speeds, the rotational speed of the driven component 1 and the driven component 2 can be adjusted by regulating the current, thereby increasing the inertia; the inner working area 1, the outer working area 1, the inner working area 2, and the outer working area 2 output controllable slip damping.

[0050] If the driving member and the driven member 1 move in the same direction but at different speeds, and the driving member and the driven member 2 move in the same direction and at the same speed, the rotational speed of the driven member 1 is adjusted by regulating the current, and the inertia increases; the inertia increment brought by the driven member 2 is adjusted by regulating the current to reach the peak value; then the inner working region 2 does not output damping, and the inner working region 1, the outer working region 1, and the outer working region 2 output controllable slip damping.

[0051] If the driving member and the driven member 1 move in the same direction and at the same speed, and the driving member and the driven member 2 move in the same direction but at different speeds, the inertia increment brought by the driven member 1 is made to reach its peak value by adjusting the current; the rotational speed of the driven member 2 is controlled by adjusting the current, and the inertia increases; then the inner working region 1 does not output damping, and the outer working region 1, the inner working region 2, and the outer working region 2 output controllable slip damping.

[0052] If the active component and the driven component 1, and the active component and the driven component 2, move in the same direction and at the same speed, and the rotational speeds of the driven component 1 and the driven component 2 are increased to match the rotational speed of the active component, and the inertia increment brought by the driven component 1 and the driven component 2 is adjusted to reach its peak value, then the inner working region 1 and the inner working region 2 do not output damping, and the outer working region 1 and the outer working region 2 output controllable slip damping.

[0053] In summary, the variable damping and variable inertia-capacitance device proposed in this invention utilizes current to regulate the magnetic field, and adjusts the shear yield stress of the magnetorheological fluid by changing the magnetic field, thereby controlling the rotational speed of the driven component and adjusting the inertia-capacitance coefficient. When a slip effect exists between the driving and driven components, the shear damping between them also changes with the current, causing the device's damping to change with the current as well. Simultaneously, the magnetorheological valve within the cylinder of the device provides controllable damping, which is beneficial for providing a larger adjustable damping range to meet the needs of different vibration reduction and isolation conditions. The proposed device can provide real-time and continuously adjustable damping and inertia-capacitance effects; it avoids the shortcomings of unadjustable damping and inertia-capacitance, and the comprehensive control of inertia-capacitance and damping can effectively improve the performance of the vibration reduction and isolation system; utilizing the adjustable effect of the magnetorheological fluid, it has the characteristic of short response time. Real-time continuous adjustment of the damping and inertia-capacitance coefficients reduces the transmission of vibration energy, thereby improving the mobility, stability, reliability, and lifespan of precision components of intelligent fast-moving robots.

[0054] The variable damping and variable inertia capacity device proposed in this invention has advantages such as compact structure and wide inertia capacity adjustment range. This device mainly consists of a variable inertia capacity unit and a variable damping unit, which are connected by a pipeline. The hydraulic oil in the pipeline is the medium for transmitting force and motion; based on this, the variable damping and variable inertia capacity can be implemented in parallel. The variable inertia capacity uses an actuator, represented by a hydraulic motor, to convert liquid pressure into mechanical energy (torque and speed) of the output shaft. The output shaft is connected to an adjustable mass unit, which is a controllable unit of the magnetorheological fluid medium. By adjusting the current on the coil within the adjustable mass unit, the shear yield stress of the magnetorheological fluid is controlled, thereby controlling the rotational speed of different mass blocks to achieve inertia capacity adjustment. The variable damping unit is mainly a valve body unit with the magnetorheological fluid as the medium. The valve body has a built-in spiral working channel. The movement of the piston forces the magnetorheological fluid through the spiral channel, and the mechanical properties of the magnetorheological fluid are adjusted to output a controllable force value.

[0055] Please note that the technical features of the above embodiments can be combined arbitrarily. For the sake of brevity, not all possible combinations of the technical features in the above embodiments have been described. However, as long as the combination of these technical features does not contradict each other, it should be considered within the scope of this specification. The above embodiments only illustrate several implementation methods of this application, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the invention patent. It should be pointed out that for those skilled in the art, several modifications and improvements can be made without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A variable-damper variable-inertial device, characterized by, The device includes a linear motion unit and a rotary motion unit, wherein the linear motion unit and the rotary motion unit are connected by a pipeline; wherein: The linear motion unit consists of a linear unit cylinder, an upper end cover, a lower end cover, an upper piston rod, a lower piston rod, an upper sealing piston, a lower sealing piston, an intermediate rod, an iron core assembly, an excitation coil, a sealing ring 1, and a sealing ring 2; the linear unit cylinder, the upper sealing piston, and the lower sealing piston form a closed space, and the cavity inside the closed space is filled with magnetorheological fluid; The pipeline is filled with hydraulic oil; the space formed by the linear unit cylinder, the upper end cover, and the upper sealing piston is filled with hydraulic oil; the space formed by the linear unit cylinder, the lower end cover, and the lower sealing piston is filled with hydraulic oil. The core assembly includes core 1, core 2, and core 3. Core 1 and core 3 are magnetically conductive, while core 2 is a non-magnetically conductive component. Core 2 is fixedly connected to core 1 and core 3, forming a core groove. The excitation coil is installed inside the core groove. The inner walls of core 1, core 2, and core 3 are helical in shape, forming a helical channel with the outer side of the intermediate rod. The helical channel is used for the flow of magnetorheological fluid and generates controllable damping. The rotary motion unit includes a force amplification mechanism and a rotary multi-stage mass block adjustment unit. The force amplification mechanism uses hydraulic oil as a medium, and the rotary multi-stage mass block adjustment unit uses magnetorheological fluid as a medium. The rotary multi-stage mass block adjustment unit includes a rotary unit cylinder, a driving element, a driven element 1, a driven element 2, an excitation coil 1, and an excitation coil 2; the driving element includes a shaft of the driving element, a disk 1 of the driving element, a disk 2 of the driving element, an excitation coil 3, and an excitation coil 4; the driving element includes a left side portion and a right side portion, the left side portion of the driving element includes the left side portion of the shaft of the driving element, the disk 1 of the driving element, and the excitation coil 3; the right side portion of the driving element includes the right side portion of the shaft of the driving element, the disk 2 of the driving element, and the excitation coil 4; The excitation coil 1 is located inside the cylinder of the rotating unit on the left side, and the excitation coil 2 is located inside the cylinder of the rotating unit on the right side. The annular gap formed between the inner side of the rotating unit cylinder and the outer side of the driven member 1 is the outer working area 1, and the annular gap formed between the inner side of the rotating unit cylinder and the outer side of the driven member 2 is the outer working area 2. The sealed gap formed between the driven member 1 and the left side of the driving member is the inner working area 1, and the sealed gap formed between the driven member 2 and the right side of the driving member is the inner working area 2. The outer working area 1, the outer working area 2, the inner working area 1, and the inner working area 2 are filled with magnetorheological fluid. There is a cavity between the driven member 1 and the driven member 2.

2. The variable-damper variable-compliance device of claim 1, wherein The force amplification mechanism is a motor.

3. The variable-damper variable-compliance device of claim 1, wherein When the upper piston rod, the upper sealing piston, the intermediate rod, the lower sealing piston, and the lower piston rod reciprocate synchronously, the magnetorheological fluid flows back and forth in the spiral channel. By adjusting the excitation coil, the shear yield stress of the magnetorheological fluid is changed, thereby changing the damping force output by the variable damping variable inertia-capacitance device. At the same time, the hydraulic oil flows back and forth in the pipeline and the force amplification mechanism, and drives the active component of the rotary multi-stage mass block adjustment unit to reciprocate.

4. The variable-damper variable-compliance device of claim 3, wherein The excitation coil 1 and the excitation coil 2 respectively adjust the shear yield stress of the magnetorheological fluid in the outer working region 1 and the outer working region 2, and the excitation coil 3 and the excitation coil 4 respectively adjust the shear yield stress of the magnetorheological fluid in the inner working region 1 and the inner working region 2.

5. The variable damping and variable inertia-capacitance device according to claim 4, characterized in that, The rotational speeds of the driven member 1 and the driven member 2 are controlled by adjusting the current values ​​of the excitation coil 1, the excitation coil 2, the excitation coil 3, and the excitation coil 4. The current values ​​are determined by the requirements of inertial capacitance and damping.

6. The variable damping and variable inertia-capacitance device according to claim 5, characterized in that, When the driving element moves, current is applied to the excitation coil 3, but not to the excitation coil 4. Combined with the currents applied to the excitation coils 1 and 2, when the magnetic field generated by the current induces shear yield stress in the magnetorheological fluid, driving the driven element 1 to move, and the driven element 2 does not move accordingly, the inertia of the variable damping variable capacitance device increases; wherein: If the driving member and the driven member 1 move in the same direction but at different speeds, the rotational speed of the driven member 1 is increased by adjusting the current, and the inertia increases; the inner working area 1 and the outer working area 1 output controllable slip damping; If the active component and the driven component 1 move in the same direction and at the same speed, and the rotational speed of the driven component 1 increases to match the rotational speed of the active component, and the inertia increment brought by the driven component 1 reaches its peak value by adjusting the current, then the inner working region 1 does not output damping, and the outer working region 1 outputs controllable slip damping.

7. The variable damping and variable inertia-capacitance device according to claim 5, characterized in that, When the driving element moves, current is applied to the excitation coil 4 but not to the excitation coil 3. Combined with the currents applied to the excitation coils 1 and 2, when the magnetic field generated by the current induces shear yield stress in the magnetorheological fluid, driving the driven element 2 to move, the inertia of the device increases; wherein: If the driving member and the driven member 2 move in the same direction but at different speeds, the rotational speed of the driven member 2 is increased by adjusting the current, and the inertia increases; the inner working area 2 and the outer working area 2 output controllable slip damping; If the driving member and the driven member 2 move in the same direction and at the same speed, and the rotational speed of the driven member 2 increases to match the rotational speed of the driving member, and the inertia increment brought by the driven member 2 reaches its peak value by adjusting the current, then the inner working region 2 does not output damping, and the outer working region 2 outputs controllable slip damping.

8. The variable damping and variable inertia-capacitance device according to claim 5, characterized in that, When the driving element moves, current is applied to the excitation coil 3 and simultaneously to the excitation coil 4. Combined with the currents applied to the excitation coils 1 and 2, when the magnetic field generated by the current induces the shear yield stress of the magnetorheological fluid, driving the driven elements 1 and 2 to move, the inertia of the device increases; wherein: If the active component and the driven component 1, and the active component and the driven component 2, move in the same direction but at different speeds, the rotational speed of the driven component 1 and the driven component 2 can be increased by adjusting the current, thereby increasing the inertia; the inner working area 1, the outer working area 1, the inner working area 2, and the outer working area 2 output controllable slip damping; If the driving member and the driven member 1 move in the same direction but at different speeds, and the driving member and the driven member 2 move in the same direction and at the same speed, increasing the rotational speed of the driven member 1 by adjusting the current increases the inertia; adjusting the current makes the inertia increment brought by the driven member 2 reach its peak value; then the inner working region 2 does not output damping, and the inner working region 1, the outer working region 1, and the outer working region 2 output controllable slip damping. If the driving member and the driven member 1 move in the same direction and at the same speed, and the driving member and the driven member 2 move in the same direction but at different speeds, the inertia increment brought by the driven member 1 is made to reach its peak value by adjusting the current; the rotational speed of the driven member 2 is increased by adjusting the current, and the inertia increases; then the inner working region 1 does not output damping, and the outer working region 1, the inner working region 2, and the outer working region 2 output controllable slip damping; If the active component and the driven component 1, and the active component and the driven component 2, move in the same direction and at the same speed, and the rotational speeds of the driven component 1 and the driven component 2 are increased to match the rotational speed of the active component, and the inertia increment brought by the driven component 1 and the driven component 2 is adjusted to reach its peak value, then the inner working region 1 and the inner working region 2 do not output damping, and the outer working region 1 and the outer working region 2 output controllable slip damping.

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