Self-adaptive limiting torque torsional spring magnetorheological damper

Abstract

The invention provides a self-adaptive limiting torque torsional spring magnetorheological damper. The self-adaptive limiting torque torsional spring magnetorheological damper comprises a damper body, a motor driver, a torsional spring and an ejector. A damper shell of the damper is in transition fit with the transmission shaft through a sliding bearing; a magnet exciting coil of the motor driver is connected with a power source of the direct current motor, penetrates through the coil channel and is connected with the motor control module. The torsional spring is fixed between the two damping discs, and an outer side groove and the ejection device are fixed through the ejector; the catapult adjusts a motor through a motor control module to enable a top cap of the catapult to be matched with a spring to move up and down. According to the self-adaptive torque limiting torsional spring magnetorheological damper, the catapult is automatically excited through the motor control module, so that the damper can be limited only through the torque of the torsional spring, the torsional spring can also serve as a stirrer, real-time response to external load changes can be achieved, and the torque limiting function of the damper is achieved. And meanwhile, the sedimentation problem of the magnetorheological fluid can be effectively prevented. Through the combined action of the torsional spring and the magnetorheological fluid, the damper can keep efficient and stable performance under different working conditions, and it is ensured that the device has excellent response capacity and stability under the rapidly-changing load condition.

Description

Technical Field

[0001] The invention relates to a magnetorheological damper, in particular to an adaptive limit torque torsion spring magnetorheological damper. Background Art

[0002] With the continuous development of modern mechanical systems, especially in transportation, industrial equipment and precision instruments, the control of vibration and impact is extremely important. Although traditional damper technologies, such as hydraulic dampers and gas dampers, can absorb the vibration energy in the system to a certain extent, their performance cannot meet the requirements in some applications requiring high precision and high dynamic response due to their complex structure, slow response speed and low energy efficiency.

[0003] In recent years, the emergence of magnetorheological technology has provided a new idea for solving the above problems. Magnetorheological dampers use magnetic fields to regulate the damping characteristics of fluids, and can adjust the damping characteristics in a short time, thereby achieving faster and more accurate vibration control. However, most of the existing magnetorheological dampers have the following shortcomings: First, the adjustment accuracy and control response speed of magnetorheological dampers still have room for improvement; second, the design of magnetorheological dampers often requires a large space, and under high load conditions, it may still be difficult to meet the needs of certain specific working conditions.

[0004] In this context, the present invention proposes an adaptive torque-limiting torsion spring magnetorheological damper. By introducing a torsion spring structure, the damper can not only effectively limit the range of motion of the damping disk, but also provide adaptive adjustment torque under different working conditions. The addition of the torsion spring enables the damper to have a higher load capacity and adjustment accuracy. At the same time, with the help of the characteristics of magnetorheological technology, the damping characteristics can be adjusted in real time under the action of an external magnetic field, thereby improving the overall performance. Summary of the invention

[0005] The present invention aims to provide an adaptive limit torque torsion spring magnetorheological damper to solve the problems existing in the background technology.

[0006] The invention relates to a self-circulating magnetorheological damper for a prosthetic joint, comprising: a sleeve (1), a damper housing (2), an excitation coil (3), a coil lead-out hole (4), a motor control module (5), a damper disc (6), a torsion spring (7), a catapult (8), a catapult (9), a bolt hole (60), a liquid injection hole (70), a transmission shaft (80), and a damper upper end cover (100), wherein the sleeve (1) is transitionally matched with the damper housing (2) and the damper upper end cover (100) through the cone angle of the sleeve (1), the damper housing (2) and the damper upper end cover (100) are bolted through the bolt hole (60) and are additionally provided with a sealing gasket, the transmission shaft (80) and the damper housing (2) are transitionally matched through a sliding bearing, and the catapult firing device (8) and the damper housing (2) are coaxially interference-fitted and fixed through spot welding.

[0007] Furthermore, the ejection firing device (8) comprises: a coil channel (801), an output channel (802), and the ejector (9) comprises: an ejector top cap (901), an ejector top cap column (902), an ejector sleeve (903), a bolt (904), a spring (905), a transmission column (906), a spiral skirt (907), a boss bolt hole (920), and a motor (930), wherein the electric wire is connected to the power supply position of the DC motor (903) through the coil channel (801), passes through the output channel (802) provided on the ejector and the channel on the damper housing (2), and then passes out from the coil lead-out hole (4), and then connected to the motor control module (5).

[0008] Furthermore, the catapult top cap (901) and the catapult sleeve (903) are in transitional fit, the catapult top cap column (902) is fixed on the catapult top cap (901), and is matched with the spiral skirt (907) on the transmission column (906), the catapult sleeve (903) is connected and fixed with the fixing plate by bolts, the spring (905) is fixed inside the catapult, the DC motor drives the transmission column (906) to rotate, the spiral skirt (907) drives the catapult top cap column (902) to move the catapult top cap (901) downward and compress the spring (905), the catapult (9) and the ejection firing device (8) are bolted through the boss bolt hole (920) and a sealing gasket is installed.

[0009] Furthermore, the torsion spring (7) comprises: a keyway (701) and an outer groove (702) of the torsion spring. The torsion spring (7) is fixed between the two damping discs (6) and connected to the transmission shaft (80) via the keyway (701). There is a sufficient gap between the outer side and the ejection device (8). The outer groove (702) of the torsion spring cooperates with the ejector (9).

[0010] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0011] 1. The damper of the present invention has a torsion spring installed in the middle of the damping disk, which has a simple structure and is easy to install, and can effectively prevent the sedimentation of the magnetorheological fluid.

[0012] 2. The damper of the present invention is provided with a motor control module on the outside, and the ejector is automatically fired through the motor control module, so that the damper can adjust itself under working conditions that adapt to various torques and require different damping forces, so that the torsion spring outputs torque or does not output torque.

[0013] 3. The damper of the present invention has a simple and reliable overall structure, occupies a small volume, and adopts a stacking form. Each part of the damper is efficiently and reasonably utilized. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0015] Figure 1 It is a schematic diagram of the overall structure of the front side of the present invention;

[0016] Figure 2 It is a schematic diagram of the overall structure of the rear side of the present invention;

[0017] Figure 3 It is an overall cross-sectional view of the unfired damper of the ejection firing device of the present invention;

[0018] Figure 4 It is an overall cross-sectional view of the damper when the ejection firing device of the present invention is in the firing state;

[0019] Figure 5 It is a schematic diagram of the structure of the torsion spring of the present invention;

[0020] Figure 6 It is a schematic diagram of the overall structure of the ejection firing device of the present invention from the side;

[0021] Figure 7 It is a schematic diagram of the overall structure of the front of the ejection firing device of the present invention;

[0022] Figure 8 It is a schematic diagram of the overall structure of the catapult of the present invention;

[0023] Fig. 9 A partial cross-sectional view of the catapult of the present invention;

[0024] Fig.10 It is a schematic diagram of the spiral skirt structure of the catapult of the present invention;

[0025] In the figure: 1, sleeve; 2, damper housing; 3, excitation coil; 4, coil lead-out hole; 5, motor control module; 6, damping disk; 7, torsion spring; 701, keyway; 702, torsion spring outer groove; 8, ejection firing device; 801, coil channel; 802, output channel; 9, ejector; 901, ejector top cap; 902, ejector top cap column; 903, ejector sleeve; 904, bolt; 905, spring; 906, transmission column; 907, spiral skirt; 920, boss bolt hole; 930, DC motor; 60, bolt hole; 70, injection hole; 80, transmission shaft; 100, damper upper end cover. DETAILED DESCRIPTION

[0026] In order to describe the structural features, technical solutions and functional characteristics of the present invention in detail, the present invention is further described in conjunction with the accompanying drawings and embodiments:

[0027] Reference Figure 1-10 As shown, the purpose of the present invention is to provide an adaptive limit torque torsion spring magnetorheological damper to solve the problems existing in the background technology.

[0028] The invention relates to a self-circulating magnetorheological damper for a prosthetic joint, comprising: a sleeve (1), a damper housing (2), an excitation coil (3), a coil lead-out hole (4), a motor control module (5), a damper disc (6), a torsion spring (7), a catapult (8), a catapult (9), a bolt hole (60), a liquid injection hole (70), a transmission shaft (80), and a damper upper end cover (100), wherein the sleeve (1) is transitionally matched with the damper housing (2) and the damper upper end cover (100) through the cone angle of the sleeve (1), the damper housing (2) and the damper upper end cover (100) are bolted through the bolt hole (60) and are additionally provided with a sealing gasket, the transmission shaft (80) and the damper housing (2) are transitionally matched through a sliding bearing, and the catapult firing device (8) and the damper housing (2) are coaxially interference-fitted and fixed through spot welding.

[0029] The ejection firing device (8) comprises: a coil channel (801), an output channel (802); the ejector (9) comprises: an ejector top cap (901), an ejector top cap column (902), an ejector sleeve (903), a bolt (904), a spring (905), a transmission column (906), a spiral skirt (907), a boss bolt hole (920), and a motor (930); wherein the electric wire is connected to the power supply position of the DC motor (903) through the coil channel (801), passes through the output channel (802) provided on the ejector and the channel on the damper housing (2), and then passes out from the coil lead-out hole (4), and then is connected to the motor control module (5).

[0030] The ejector top cap (901) and the ejector sleeve (903) are in transitional fit, the ejector top cap column (902) is fixed on the ejector top cap (901), and is matched with the spiral skirt (907) on the transmission column (906), the ejector sleeve (903) is connected and fixed with the fixing plate by bolts, the spring (905) is fixed inside the ejector, the DC motor drives the transmission column (906) to rotate, the spiral skirt (907) drives the ejector top cap column (902) to move the ejector top cap (901) downward and compress the spring (905), the ejector (9) and the ejection firing device (8) are bolted through the boss bolt hole (920) and a sealing gasket is installed.

[0031] The torsion spring (7) comprises a keyway (701) and an outer groove (702) of the torsion spring. The torsion spring (7) is fixed between the two damping discs (6) and connected to the transmission shaft (80) via the keyway (701). There is a sufficient gap between the outer side and the ejection device (8). The outer groove (702) of the torsion spring cooperates with the ejector (9).

[0032] The working process of the device of the present invention:

[0033] At the beginning of work, the torsion spring is located between the two disks. The torsion spring is locked by the ejection firing device so that it can provide preliminary torque control and limit the circumferential movement of the transmission shaft between -60° and 60°. When external loads or vibrations act on the system, the torsion spring can also store energy through its elastic characteristics and react to the system with elastic force to suppress excessive movement. When the external load reaches the limit, the motor control module responds in real time to control the contraction of the ejector, so that the torsion spring becomes a stirring part that can move freely with the circumference of the shaft, which can effectively prevent the sedimentation problem of the magnetorheological fluid. At the same time, under electromagnetic control, the magnetorheological fluid changes its damping characteristics as the current or magnetic field changes. In this dynamic process, the elastic force of the torsion spring and the damping adjustment of the magnetorheological fluid cooperate with each other to achieve energy absorption and vibration suppression. When the external load changes, the system can automatically adjust the damping force to ensure smooth operation. The ejection firing device provides protection within the extreme range of movement to prevent the system from losing control or excessive movement. Through the combined effect of torsion spring and magnetorheological technology, the damper can maintain efficient and stable performance under different working conditions, ensuring that the equipment has excellent responsiveness and stability under rapidly changing load conditions.

[0034] It should be understood that the above embodiments of the present invention are only examples for describing the present invention in detail, and are not intended to limit the embodiments of the present invention. For those skilled in the art, different forms of changes or modifications can be made based on the above description. All different forms of changes or modifications derived from the technical solution of the present invention are also considered to be within the scope of protection of the claims attached to this application.

Claims

1. An adaptive limit torque torsion spring magnetorheological damper, characterized in that: include: A sleeve (1), a damper housing (2), an excitation coil (3), a coil lead-out hole (4), a motor control module (5), a damper disk (6), a torsion spring (7), a catapult (8), a catapult (9), a bolt hole (60), a liquid injection hole (70), a transmission shaft (80), and a damper upper end cover (100), wherein the sleeve (1) is transitionally matched with the damper housing (2) and the damper upper end cover (100) through the cone angle of the sleeve (1), the damper housing (2) and the damper upper end cover (100) are bolted together through the bolt hole (60) and are additionally provided with a sealing gasket, the transmission shaft (80) and the damper housing (2) are transitionally matched through a sliding bearing, and the catapult (8) and the damper housing (2) are coaxially interference-fitted and fixed by spot welding.

2. The adaptive position-limiting torque torsion spring magnetorheological damper according to claim 1, characterized in that: The ejection firing device (8) comprises: a coil channel (801) and an output channel (802); the ejector (9) comprises: an ejector top cap (901), an ejector top cap column (902), an ejector sleeve (903), a bolt (904), a spring (905), a transmission column (906), a spiral skirt (907), a boss bolt hole (920), and a motor (930); wherein the electric wire is connected to the power supply position of the DC motor (903) through the coil channel (801), passes through the output channel (802) provided on the ejector and the channel on the damper housing (2), and then passes out from the coil lead-out hole (4), and then is connected to the motor control module (5).

3. The adaptive position-limiting torque torsion spring magnetorheological damper according to claim 2, characterized in that: The catapult top cap (901) and the catapult sleeve (903) are in transitional fit. The catapult top cap column (902) is fixed on the catapult top cap (901) and matches with the spiral skirt (907) on the transmission column (906). The catapult sleeve (903) is connected and fixed with the fixing plate by bolts. The spring (905) is fixed inside the catapult. The DC motor drives the transmission column (906) to rotate. The spiral skirt (907) drives the catapult top cap column (902) to move the catapult top cap (901) downward and compress the spring (905). The catapult (9) and the ejection firing device (8) are bolted through the boss bolt hole (920) and a sealing gasket is installed.

4. The adaptive position-limiting torque torsion spring magnetorheological damper according to claim 1, characterized in that: The torsion spring (7) comprises a keyway (701) and an outer groove (702) of the torsion spring. The torsion spring (7) is fixed between the two damping discs (6) and connected to the transmission shaft (80) via the keyway (701). There is a sufficient gap between the outer side and the ejection firing device (8). The outer groove (702) of the torsion spring cooperates with the ejector (9).

Images