A magnetorheological damper capable of realizing independent linear and rotational force feedback

Abstract

A magnetorheological damper capable of achieving independent linear and rotational force feedback comprises two cylinders filled with magnetorheological fluid. A piston head assembly and a piston rod axially extending through the cylinder are disposed within the first cylinder. A coil wound with enameled wire is disposed on the piston head assembly. The piston head assembly is connected to the piston rod via two rotary bearings. The piston rod drives the piston head assembly to move linearly, and varying the current in the enameled wire enables the output of different damping forces in the linear direction. A stationary static drum and a dynamic drum fixed to rotation with the piston rod are disposed within the second cylinder. The piston rod drives the dynamic drum to rotate within the second cylinder, squeezing the magnetorheological fluid between the static and dynamic drums to achieve the output of different damping forces in the rotational direction. The present invention combines the operating modes of valve-type and rotary magnetorheological dampers, decoupling the damping forces in the rotational and linear directions on the piston rod to provide independent force feedback in the linear and rotational directions.

Description

Technical Field

[0001] The present invention belongs to the technical field of magnetorheological damping adjustment, and in particular relates to a magnetorheological damper capable of realizing independent force feedback of linear rotation. Background Art

[0002] Magnetorheological fluid (MRF) is a new intelligent material with controllable fluidity. It consists of nanoscale magnetic particles, a carrier fluid, and various additives. The rheological properties of MRF are dependent on the external magnetic field. When an external magnetic field is applied, its rheological properties change from those of a low-viscosity Newtonian fluid to those of a high-viscosity, low-fluidity Bingham fluid. This transformation is easy to control and provides a fast response. A MR damper is a passive force feedback device that uses MRF as its working medium and provides operational damping. The output damping force can be controlled by varying the coil current.

[0003] The working models of magnetorheological fluid can be divided into three types: flow type, shear type and extrusion type. Magnetorheological dampers based on the above working models are divided into rotary magnetorheological dampers and valve magnetorheological dampers. Rotary magnetorheological dampers generally provide damping force in the rotational direction by squeezing magnetorheological fluid through the relative rotation of rotating and stationary parts; valve magnetorheological dampers generally have the piston run linearly in the piston chamber to squeeze the magnetorheological fluid, providing damping force in the linear direction. Existing magnetorheological dampers can only provide force feedback of one degree of freedom regardless of the working mode adopted, and cannot meet the application requirements that require both rotational and linear force feedback.

[0004] Therefore, in order to meet the application scenarios that require rotational and linear multi-degree-of-freedom force feedback, the present invention combines the working modes of valve-type and rotary magnetorheological dampers and proposes a magnetorheological damper that can realize independent linear and rotational force feedback. The damper can realize force feedback of two degrees of freedom, rotational and linear, and there is no force coupling in the force feedback of the two degrees of freedom. Summary of the Invention

[0005] To solve the above technical problems, the present invention proposes a magnetorheological damper that can realize independent force feedback of linear rotation, so as to overcome the problem that the existing damper can only provide force feedback of one degree of freedom and meet more abundant force feedback requirements.

[0006] To achieve the above object, the technical solution adopted by the present invention is:

[0007] A magnetorheological damper capable of realizing independent linear and rotary force feedback, comprising a first cylinder body, a second cylinder body, a first magnetic conductive sleeve, a second magnetic conductive sleeve, and a magnetic blocking sleeve; the first cylinder body is provided with a first piston rod, a second piston rod, and a piston assembly; the piston assembly is composed of a second bearing, an iron core, a first coil, and a third bearing; the enameled wire of the first coil is led out through a wire hole on a lower end cover; a threaded hole is provided at one end of the first piston rod; a threaded wire is provided at one end of the second piston rod; the first piston rod and the second piston rod pass through the piston assembly; after being tightened inside the piston, the piston assembly moves with the piston rod in a linear direction and remains stationary in a rotational direction; the second piston rod passes through a ball bushing to realize linear guidance of the piston rod; the ball bushing is fixedly connected to the lower end cover;

[0008] The second cylinder body includes a movable drum and a static drum, and the movable drum is composed of a movable drum body and a movable drum bracket, the movable drum body and the movable drum bracket are fixed, one end of the movable drum bracket is fixed to the first bearing through a first retaining spring and a second retaining spring, the first bearing is fixed to the inner side of the upper end cover, so that the movable drum bracket drives the movable drum body to rotate, a rectangular protrusion is provided on the first piston rod, which cooperates with the groove on the movable drum bracket to realize that the movable drum moves in the rotation direction of the piston rod and is stationary in the linear direction, the static drum is composed of a static drum body and a static drum bracket, the static drum body and the static drum bracket are fixed, the static drum bracket is connected to the second coil, the second coil is connected to the magnetic conductive component, and the enameled wire in the second coil is led out through the wire hole on the shell;

[0009] The first cylinder is filled with magnetorheological fluid. In the first cylinder, the iron core in the piston head assembly, the first magnetic sleeve and the magnetorheological fluid in the cylinder form a magnetic flux path. The second cylinder is filled with magnetorheological fluid. In the second cylinder, the dynamic drum body, the static drum body, the second magnetic sleeve and the magnetic component form a magnetic flux path.

[0010] The second magnetic conductive sleeve is provided with a magnetic blocking sleeve, the magnetic blocking sleeve is provided with a first magnetic conductive sleeve, the second magnetic conductive sleeve is fixed to the lower end cover by M2 screws, and the upper end cover and the lower end cover are fixed to the housing by M3 screws.

[0011] The first cylinder is filled with magnetorheological fluid. A first magnetically conductive sleeve is mounted on the outer wall of the cylinder's annular cavity, forming a magnetic flux path with the iron core of the piston head assembly and the magnetorheological fluid in the cylinder. Furthermore, the gap between the piston head assembly and the magnetically conductive sleeve forms a damping channel for the magnetorheological fluid. Changing the current in the first coil of the piston head assembly can alter the linear damping force.

[0012] Furthermore, the second cylinder is filled with magnetorheological fluid, a second magnetic sleeve is positioned within the annular cavity, a second coil wound with enameled wire is positioned below the stationary drum bracket, and a magnetic component made of electrical pure iron is positioned at the bottom of the second coil. The second magnetic sleeve, the static drum body, the dynamic drum body, the magnetorheological fluid, and the magnetic component form a magnetic flux path. Furthermore, a damping channel for the flow of magnetorheological fluid is formed between the drum bodies of the two static drums and the drum bodies of the three dynamic drums within the second cylinder. Changing the current within the second coil can alter the damping force in the direction of rotation.

[0013] Furthermore, the first magnetic conductive sleeve, the second magnetic conductive sleeve and the magnetic blocking sleeve are fixed by fixing bolts to prevent relative sliding.

[0014] Furthermore, the first magnetic conductive sleeve and the second magnetic conductive sleeve are both made of a magnetic conductive material, electrical pure iron, and the first magnetic conductive sleeve and the second magnetic conductive sleeve are provided with a magnetic blocking sleeve made of aluminum, which can block the magnetic lines of force from passing through, thereby preventing the magnetic field excited by the first coil and the magnetic field excited by the second coil from coupling with each other.

[0015] Furthermore, a ferromagnetic seal is used between the movable drum bracket and the upper end cover to prevent leakage of magnetic particles in the magnetorheological fluid.

[0016] Furthermore, the ferromagnetic seal is composed of an iron ring and a magnetic ring. The magnetic ring is adsorbed on the movable drum bracket on one side and adsorbed on the iron ring on the other side. The magnetorheological fluid in the gap between the movable drum bracket, the iron ring and the magnetorheological fluid forms a closed magnetic circuit, thereby solidifying the magnetorheological fluid.

[0017] Furthermore, the first piston rod contacts the upper end cover through a first sealing ring, the second piston rod contacts the lower end cover through a second sealing ring, and a sealing ring is provided at the connection between the piston rod and the upper and lower end covers of the magnetorheological damper. The upper end of the dynamic drum bracket is fixed to the rotating bearing through a retaining spring, and the bearing is fixed inside the upper end cover. The top of the dynamic drum bracket is respectively provided with a magnetic ring and an iron ring to form a ferromagnetic seal to prevent leakage of magnetorheological fluid.

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

[0019] The present invention combines the working modes of valve-type and rotary magnetorheological dampers and proposes a magnetorheological damper that can realize independent force feedback of linear and rotation. The damper can realize force feedback of two degrees of freedom of rotation and linear, and there is no force coupling in the force feedback of the two degrees of freedom. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 Schematic diagram of the structure of the magnetorheological damper capable of realizing linear and rotational independent force feedback according to the present invention;

[0021] Figure 2It is a schematic diagram of the connection of various components of the present invention;

[0022] Figure 3 Schematic diagram of the internal magnetic flux path of the present invention;

[0023] Figure 4 It is an external view of the present invention from different perspectives;

[0024] Figure 5 This is a quarter-section view;

[0025] Figure 6 This is the connection diagram between the piston rod and the piston assembly;

[0026] Among them: 1-first piston rod, 2-iron ring, 3-magnetic ring, 4-first bearing, 5-upper end cover, 6-shell, 7-dynamic drum body, 8-static drum body, 9-static drum bracket, 10-second coil, 11-second magnetic conductive sleeve, 12-magnetic conductive component, 13-lower end cover, 14-ball bushing, 15-second piston rod, 16-first retaining spring, 17-second retaining spring, 18-first sealing ring, 19-dynamic drum bracket, 20-first magnetic conductive sleeve, 21-second bearing, 22-iron core, 23-first coil, 24-third bearing, 25-magnetic blocking sleeve, 26-second sealing ring, 27-fixing bolt. DETAILED DESCRIPTION

[0027] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments:

[0028] Figure 1 Schematic diagram of the structure of the magnetorheological damper capable of realizing linear and rotational independent force feedback of the present invention. Figure 2 This is a schematic diagram of the connection of various components of the present invention. Figure 3 is a schematic diagram of the internal magnetic flux path of the present invention, Figure 4 This is an appearance view from different perspectives of the present invention. Figure 5 This is a quarter-section view. Figure 6 This is a diagram showing the connection between the piston rod and the piston assembly. As shown in the figure, a magnetorheological damper capable of achieving independent linear rotation force feedback in this embodiment includes a first cylinder body and a second cylinder body. The first cylinder body is provided with a first piston rod 1, a second piston rod 15, and a piston assembly. The piston assembly is composed of a second bearing 21, an iron core 22, a first coil 23, and a third bearing 24. The enameled wire of the first coil 23 is led out through the wire hole on the lower end cover 13, as shown in FIG. Figure 2 As shown. One end of the first piston rod 1 is provided with a threaded hole, and one end of the second piston rod 15 is provided with a threaded line, as shown. Figure 6As shown, the first piston rod 1 and the second piston rod 15 pass through the piston assembly. Once tightened inside the piston, the piston assembly moves linearly with the piston rods and remains stationary in the rotational direction. The first piston rod 1 contacts the upper end cap 5 via a first sealing ring 18, while the second piston rod 15 contacts the lower end cap 13 via a second sealing ring 26. The second piston rod 15 passes through a ball bushing 14, providing linear guidance for the piston rods. The ball bushing 14 is fixedly connected to the lower end cap 13.

[0029] The second cylinder in this embodiment includes a dynamic drum and a static drum. The dynamic drum is composed of a dynamic drum body 7 and a dynamic drum bracket 19. The dynamic drum body 7 and the dynamic drum bracket 19 are fixed. One end of the dynamic drum bracket 19 is fixed to the first bearing 4 through a first retaining spring 16 and a second retaining spring 17. The first bearing is fixed to the inner side of the upper end cover 5, so that the dynamic drum bracket 19 drives the dynamic drum body 7 to rotate. Figure 5 The first piston rod is provided with a rectangular protrusion, which cooperates with the groove on the dynamic drum bracket 19 to enable the dynamic drum to move in the rotational direction of the piston rod and remain stationary in the linear direction. The static drum is composed of a static drum body 8 and a static drum bracket 9. The static drum body 8 and the static drum bracket 9 are fixed. The static drum bracket 9 is connected to the second coil 10, and the second coil 10 is connected to the magnetic conductive component 12. The enameled wire in the second coil is led out through the wire hole on the housing 6, as shown. Figure 2 shown.

[0030] In this embodiment, the first magnetic conductive sleeve 20, the second magnetic conductive sleeve 11 and the magnetic blocking sleeve 25 are fixed by fixing bolts 27 to prevent relative sliding. The second magnetic conductive sleeve 11 and the lower end cover 13 are fixed by M2 screws. The upper end cover 5 and the lower end cover 13 are fixed to the housing 6 by M3 screws. Figure 2 shown.

[0031] In this embodiment, a ferromagnetic seal is used between the movable drum bracket 19 and the upper end cover 5 to prevent leakage of magnetic particles in the magnetorheological fluid. The ferromagnetic seal is composed of an iron ring 2 and a magnetic ring 3. The magnetic ring 3 is adsorbed on the movable drum bracket 19 on one side and adsorbed on the iron ring 2 on the other side. A closed magnetic circuit is formed between the movable drum bracket 19, the iron ring 2 and the magnetorheological fluid in the gap, thereby solidifying the magnetorheological fluid to prevent leakage of magnetic particles.

[0032] In this embodiment, in the first cylinder, the iron core 22 in the piston head assembly, the first magnetic conductive sleeve 20 and the magnetorheological fluid in the cylinder form a magnetic flux path. In the second cylinder, the dynamic drum body 7, the static drum body 8, the second magnetic conductive sleeve 11 and the magnetic conductive component 12 form a magnetic flux path. The magnetic flux path diagram is shown in FIG. Figure 3 shown.

[0033] The above description is merely a preferred embodiment of the present invention and does not constitute any other form of limitation to the present invention. Any modification or equivalent variation based on the technical essence of the present invention shall still fall within the scope of protection claimed by the present invention.

Claims

1. A magnetorheological damper capable of realizing linear and rotational independent force feedback, characterized in that: The invention comprises a first cylinder body, a second cylinder body, a first magnetic conductive sleeve (20), a second magnetic conductive sleeve (11) and a magnetic blocking sleeve (25), wherein the first cylinder body is provided with a first piston rod (1), a second piston rod (15) and a piston assembly, wherein the piston assembly is composed of a second bearing (21), an iron core (22), a first coil (23) and a third bearing (24), wherein the enameled wire of the first coil (23) is led out through a wire hole on a lower end cover (13), a threaded hole is provided at one end of the first piston rod (1), and a threaded wire is provided at one end of the second piston rod (15), wherein the first piston rod (1) and the second piston rod (15) pass through the piston assembly, and after being fastened inside the piston, the piston assembly moves with the piston rod in a linear direction and remains stationary in a rotational direction, wherein the second piston rod (15) passes through a ball bushing (14) to realize linear guidance of the piston rod, and the ball bushing (14) is fixedly connected to the lower end cover (13); The second cylinder body comprises a dynamic drum and a static drum. The dynamic drum is composed of a dynamic drum body (7) and a dynamic drum bracket (19). The dynamic drum body (7) and the dynamic drum bracket (19) are fixed. One end of the dynamic drum bracket (19) is fixed to the first bearing (4) through a first retaining spring (16) and a second retaining spring (17). The first bearing (4) is fixed to the inner side of the upper end cover (5) so that the dynamic drum bracket (19) drives the dynamic drum body (7) to rotate. The first piston rod (1) is provided with A rectangular protrusion is provided, which cooperates with the groove on the dynamic drum bracket (19) to realize that the dynamic drum moves in the rotation direction of the piston rod and is stationary in the linear direction. The static drum is composed of a static drum body (8) and a static drum bracket (9). The static drum body (8) and the static drum bracket (9) are fixed. The static drum bracket (9) is connected to the second coil (10), and the second coil (10) is connected to the magnetic conductive component (12). The enameled wire in the second coil (10) is led out through the wire hole on the shell (6); The first cylinder is filled with magnetorheological fluid, and in the first cylinder, the iron core (22) in the piston assembly, the first magnetic sleeve (20) and the magnetorheological fluid in the cylinder form a magnetic flux path; the second cylinder is filled with magnetorheological fluid, and in the second cylinder, the dynamic drum body (7), the static drum body (8), the second magnetic sleeve (11) and the magnetic component (12) form a magnetic flux path; A magnetic blocking sleeve (25) is provided in the second magnetic conductive sleeve (11), and a first magnetic conductive sleeve (20) is provided in the magnetic blocking sleeve (25). The second magnetic conductive sleeve (11) is fixed to the lower end cover (13) by M2 screws, and the upper end cover (5) and the lower end cover (13) are fixed to the housing (6) by M3 screws.

2. The magnetorheological damper capable of realizing linear and rotational independent force feedback according to claim 1, characterized in that: The first magnetic conductive sleeve (20), the second magnetic conductive sleeve (11), and the magnetic blocking sleeve (25) are fixed by means of a fixing bolt (27).

3. The magnetorheological damper capable of realizing linear and rotational independent force feedback according to claim 2, characterized in that: The first magnetic conductive sleeve (20) and the second magnetic conductive sleeve (11) are both made of a magnetic conductive material, namely, electrical pure iron. The first magnetic conductive sleeve (20) and the second magnetic conductive sleeve (11) are provided with a magnetic blocking sleeve made of aluminum.

4. The magnetorheological damper capable of realizing linear and rotational independent force feedback according to claim 1, characterized in that: A ferromagnetic seal is used between the dynamic drum bracket (19) and the upper end cover (5).

5. The magnetorheological damper capable of realizing linear and rotational independent force feedback according to claim 4, characterized in that: The ferromagnetic seal is composed of an iron ring (2) and a magnetic ring (3). The magnetic ring (3) is adsorbed on the movable drum bracket (19) on one side and adsorbed on the iron ring (2) on the other side. A closed magnetic circuit is formed between the movable drum bracket (19), the iron ring (2) and the magnetorheological fluid in the gap, thereby solidifying the magnetorheological fluid.

6. The magnetorheological damper capable of realizing linear and rotational independent force feedback according to claim 1, characterized in that: The first piston rod (1) contacts the upper end cover (5) via a first sealing ring (18), and the second piston rod (15) contacts the lower end cover (13) via a second sealing ring (26).

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