Multi-stage bearing bush type magneto-rheological brake based on electromagnetic force reinforced magneto-rheological fluid

Abstract

The invention discloses a multipolar bearing bush type magnetorheological brake based on electromagnetic force reinforced magnetorheological fluid, which comprises a stator assembly and a brake assembly, the stator assembly comprises a stator shell, and an excitation coil is arranged in the stator shell; a stator core shaft is arranged in the stator shell, and a plurality of bearing bush extrusion blocks are distributed on the outer side of the stator core shaft; a reset spring is arranged between the bearing bush extrusion block and the stator core shaft; the brake assembly comprises a brake shaft, a brake cylinder is formed at one end of the brake shaft, the open end of the brake cylinder extends into the space between the bearing bush extrusion block and the brake shell, and magnetorheological fluid is filled between the outer wall of the brake cylinder and the brake shell and between the inner wall of the brake cylinder and the bearing bush extrusion block and between the inner wall of the brake cylinder and the conical column. An inner end cover is arranged on the inner side of the brake cylinder, and an outer end cover is arranged on the outer side. The structure is simpler, the braking torque of the brake can be effectively enhanced, and the size of the whole brake is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of brakes, and in particular to a multi-pole bearing type magnetorheological brake based on electromagnetic force enhanced magnetorheological fluid. Background Art

[0002] Magnetorheological fluid (MRF) is a functional solid-liquid two-phase material whose morphology and properties are controlled by an applied magnetic field. MRF is often used to transmit torque and power to mechanical devices due to its controllability, fast response, low energy consumption, reusability and wide adaptability. By taking advantage of the three operating modes of MRF - shear, extrusion and flow, researchers have developed various MRF devices. Magnetorheological brakes rely on MRF as a transmission medium to operate in shear mode. The shear yield stress of the MRF is adjusted by changing the applied magnetic field strength to produce different braking torque outputs. It is a new application of MRF smart materials in the field of mechanical transmission.

[0003] For example, CN206647459U discloses an eccentric magnetorheological brake, which takes into account the simplification of the extrusion structure in its extrusion form and structural design. The axis line of the brake cylinder of the device deviates from the axis line of the brake shaft, so that the brake cylinder and the brake shaft form an eccentric structure. When the device rotates, extrudes and shears the magnetorheological fluid, a wedge-shaped extrusion is formed in the working gap between the entire brake cylinder and the magnetorheological fluid, thereby achieving the effect of extrusion strengthening and increasing the braking torque. Another example is CN207470647U discloses a shape memory alloy cooperative drum magnetorheological fluid brake device, which has several friction blocks arranged in its accommodating groove, each friction block is connected to a guide rod, and the guide rod is attached with a shape memory alloy spring. The temperature rise during continuous braking is used to activate the shape memory alloy to increase the braking torque. For example, CN207437640U discloses a high-temperature circulating cooling magnetorheological brake, which is provided with a circulating pump and a cooling device on its right end cover, and a filter membrane is provided in the liquid supply channel connected to the cooling device. During operation, the device can solve the problem of poor braking effect and poor stability of existing magnetorheological fluid in high temperature environment by continuously cooling the base liquid.

[0004] The above research has greatly promoted the field of magnetorheological fluid transmission. However, most of the above research is based on the addition of other auxiliary structures to enhance the braking torque of the traditional device, without considering the limitation of the redundancy of the magnetorheological device in a changeable and complex environment. At the same time, the performance of the magnetorheological fluid in transmitting torque is mainly based on the shearing of the magnetic flux formed by the magnetorheological fluid under the magnetic field after the excitation coil is energized. The electromagnetic force is not fully utilized, and a heat dissipation device is added from the outside or an additional extrusion device for the magnetorheological fluid is added. However, due to space limitations, these auxiliary devices usually provide insufficient extrusion force, which not only makes the structure too complicated, but also makes the device too bulky. Therefore, how to use the electromagnetic energy generated by the excitation coil itself to increase the braking torque of the magnetorheological fluid when it reaches magnetic saturation, and at the same time simplify the volume of the magnetorheological fluid transmission mechanism, is of great significance to reducing the volume of the magnetorheological fluid transmission device itself, as well as the utilization and exploration of the performance of the magnetorheological fluid and the excitation coil and the influence on the transmission performance of the overall device. Summary of the invention

[0005] In view of the above-mentioned deficiencies in the prior art, the object of the present invention is to provide a multi-pole bearing-type magnetorheological brake based on electromagnetic force enhanced magnetorheological fluid, which has a simpler structure, can effectively enhance the braking torque of the brake, and reduce the volume of the entire brake.

[0006] In order to solve the above technical problems, the technical solution adopted by the present invention is as follows: a multi-pole bearing type magnetorheological brake based on electromagnetic force enhanced magnetorheological fluid, including a stator assembly and a brake assembly, characterized in that: the stator assembly includes a cylindrical stator shell, and a plurality of coil slots are distributed around the inner wall of the stator shell, and the coil slots are arranged along the axial direction of the stator shell and pass through the two ends of the stator shell; an excitation coil is wound in the coil slot, wherein the winding directions of two adjacent excitation coils are in opposite directions; a magnetic isolation plate is provided at the opening of the coil slot, and the excitation coil is enclosed in the coil slot by the magnetic isolation plate;

[0007] A stator core shaft is arranged in the stator housing, and there is a gap between the side wall of the stator core shaft and the inner wall of the stator housing; a plurality of bearing shell extrusion blocks are evenly distributed around the outer side of the stator core shaft, a conical column is arranged between two adjacent bearing shell extrusion blocks, and the two sides of the bearing shell extrusion block are attached to and connected with the side walls of the two adjacent conical columns by sliding fit; a reset spring is arranged between the bearing shell extrusion block and the stator core shaft, and in the initial state, under the action of the reset spring, the bearing shell extrusion block is attached to the stator core shaft, and there is a gap between the outer side of the bearing shell extrusion block and the inner side of the stator housing; one end of the stator core shaft is fixedly connected to the stator housing through a fixed end plate, and the gap between the stator core shaft and the stator housing is closed;

[0008] The brake assembly includes a brake shaft, one end of which is formed with a brake cylinder, the open end of which extends from the end of the stator assembly away from the fixed end plate into the gap between the bearing extrusion block and the brake housing, and extends to fit with the fixed end plate; magnetorheological fluid is filled between the outer wall of the brake cylinder and the brake housing and the magnetic isolation plate, and between the inner wall of the brake cylinder and the bearing extrusion block and the conical column; an inner end cover is provided on the inner side of the brake cylinder, and an outer end cover is provided on the outer side, wherein the inner end cover is fixedly connected to the stator core shaft, and the outer end cover is fixedly connected to the stator housing, and the inner end cover and the outer end cover are respectively fitted with the inner wall and outer wall of the brake cylinder.

[0009] Furthermore, a thrust bearing is provided between the brake shaft and the inner end cover.

[0010] Furthermore, a boss is provided on each side of the brake shaft facing the inner end cover, and the thrust bearing is interference-fitted with the two bosses.

[0011] Furthermore, a limit slot block is respectively provided on the stator core shaft corresponding to each bearing extrusion block, and the limit slot block is fixedly connected to the stator core shaft, and a T-shaped slot is provided on the side close to the bearing extrusion block. Correspondingly, a T-shaped limit block is provided on the side of the bearing extrusion block close to the limit slot block, and the T-shaped limit block is located in the T-shaped slot; the reset spring is located in the limit slot block, and is located between the side plate of the T-shaped limit block away from the bearing extrusion block and the side wall of the T-shaped slot close to the opening.

[0012] Furthermore, sealing gaskets are provided between the outer end cover and the brake cylinder, and between the inner end cover and the brake cylinder.

[0013] Furthermore, a plurality of through holes are distributed on the brake cylinder.

[0014] Furthermore, sealing gaskets are provided between the two sides of the bearing shell extrusion block and the conical column.

[0015] Furthermore, the magnetic isolation plate and the conical column are both made of aluminum or aluminum alloy.

[0016] Furthermore, the fixed end plate is made of aluminum alloy material.

[0017] Compared with the prior art, the present invention has the following advantages: the present invention combines the characteristics of out-of-phase windings, and the magnetic lines of force generated can pass through the stator shell wound by adjacent excitation coils, so that the magnetic flux density when passing through the magnetorheological fluid is effectively increased, and the magnetic induction intensity and its axial distribution uniformity in the working chamber are also significantly enhanced; the brake shaft adopts a cylindrical design, and two magnetorheological fluid braking layers can be provided between the working gaps of the stator, thereby generating a higher braking torque density. At the same time, the electromagnetic force generated by the excitation coil itself is utilized, and each magnetic pole corresponds to a bearing extrusion block, which compresses the magnetorheological fluid inside the rotor using the electromagnetic attraction generated by the energized excitation coil; thereby enhancing the braking effect of the magnetorheological fluid. The reset spring installed on the limit column of the bearing extrusion block plays the role of a positioning spring, and the reset spring enables the device to quickly return the bearing extrusion block to its initial position after the power is disconnected; thereby ensuring the consistent accuracy of the braking torque in subsequent use. The bearing structure in the stator squeezes the magnetorheological fluid under the attraction of electromagnetic force, which makes it possible to achieve the extrusion and strengthening of the magnetorheological fluid without adding additional structures and equipment. At the same time, by adjusting the current, the magnetic flux and electromagnetic extrusion force passing through the magnetorheological fluid can be accurately controlled, expanding the controllable range of the braking torque. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the structure of the present invention after removing the outer end cover.

[0019] Figure 2 It is a side view of the present invention.

[0020] Figure 3 for Figure 2 Section view along AA.

[0021] Figure 4 for Figure 2 Cross-sectional view along BB direction.

[0022] In the figure: 1—stator housing, 2—excitation coil, 3—magnetic isolation plate, 4—stator core shaft, 5—bearing bush extrusion block, 6—tapered column, 7—reset spring, 8—fixed end plate, 9—brake shaft, 10—brake cylinder, 11—magnetorheological fluid, 12—inner end cover, 13—outer end cover, 14—thrust bearing, 15—limiting groove block, 16—limiting block, 17—sealing gasket. DETAILED DESCRIPTION

[0023] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0024] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents the selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0025] It should be noted that similar numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings. In the description of the present invention, it should be noted that the orientation or position relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. is based on the orientation or position relationship shown in the drawings, or the orientation or position relationship in which the invention product is usually placed when used, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance. In addition, the terms "horizontal", "vertical", etc. do not mean that the components are absolutely horizontal or suspended, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted. In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0026] Example: See Figures 1 to 4, a multi-pole bearing type magnetorheological brake based on electromagnetic force enhanced magnetorheological fluid, including a stator assembly and a brake assembly. The stator assembly includes a cylindrical stator shell 1, and a plurality of coil slots are evenly distributed around the inner wall of the stator shell 1. The coil slots are arranged along the axial direction of the stator shell 1 and penetrate the two ends of the stator shell 1. An excitation coil 2 is wound in the coil slot, wherein the winding directions of two adjacent excitation coils 2 are opposite to each other (that is, two adjacent coils, one is wound clockwise and the other is wound counterclockwise). As an embodiment, the excitation coil 2 is wound on a coil frame formed between two adjacent coil slots. A magnetic isolation plate 3 is provided at the opening of the coil slot, and the excitation coil 2 is enclosed in the coil slot by the magnetic isolation plate 3. When implemented, the inner wall of the magnetic isolation plate 3 and the inner wall of the stator shell 1 are located on the same circumferential surface. The magnetic isolation plate 3 is made of aluminum or aluminum alloy material, and the magnetic isolation effect is better.

[0027] A stator core shaft 4 is arranged in the stator housing 1, and there is a gap between the side wall of the stator core shaft 4 and the inner wall of the stator housing 1. Several bearing extrusion blocks 5 are evenly distributed around the outer side of the stator core shaft 4; wherein, the outer side of the bearing extrusion block 5 is arc-shaped. As an embodiment, the cross-section of the stator core shaft 4 is polygonal, so that the stator core shaft 4 has multiple side surfaces, and a bearing extrusion block 5 is arranged on each side surface. A conical column 6 is arranged between two adjacent bearing extrusion blocks 5, and the two sides of the bearing extrusion block 5 are attached to and slidably connected with the side walls of the two adjacent conical columns 6; sealing gaskets, such as rubber gaskets, are arranged between the two sides of the bearing extrusion block 5 and the conical columns 6, so as to seal the gap between the bearing extrusion blocks 5. During implementation, the lengths of the magnetic isolation plate 3, the bearing extrusion block 5 and the conical column 6 are all consistent with the length of the stator core shaft 4, wherein the conical column 6 is fixedly connected to the stator core shaft 4 by screws, the fixed end plate 8 is made of aluminum alloy material, and the conical column 6 is also made of aluminum or aluminum alloy material; in this way, through the cooperation of the fixed end plate 8, the conical column 6 and the magnetic isolation plate 3, the magnetic flux passing through the working gap of the magnetorheological fluid is maximized when power is turned on.

[0028] A reset spring 7 is provided between the bearing shell extrusion block 5 and the stator core shaft 4; in the initial state, under the action of the reset spring 7, the bearing shell extrusion block 5 fits the stator core shaft 4, and there is a gap between the outer side of the bearing shell extrusion block 5 and the inner side of the stator housing 1. One end of the stator core shaft 4 is fixedly connected to the stator housing 1 through a fixed end plate 8, and the gap between the stator core shaft 4 and the stator housing 1 is closed. During implementation, a limit slot block 15 is provided on the stator core shaft 4 corresponding to each bearing shell extrusion block 5, and the limit slot block 15 is fixedly connected to the stator core shaft 4, and a T-shaped slot is provided on the side close to the bearing shell extrusion block 5. Correspondingly, a T-shaped limit block 16 is provided on the side of the bearing shell extrusion block 5 close to the limit slot block 15, and the T-shaped limit block 16 is located in the T-shaped slot. The reset spring 7 is located in the limit slot block 15, and is located between the side plate of the T-shaped limit block 16 away from the bearing shell extrusion block 5 and the side wall of the T-shaped slot close to the opening. Through the cooperation between the limiting groove block 15 and the limiting block 16, the excessive displacement of the bearing shell extrusion block 5 can be limited when the electromagnetic attraction force is too large, thereby ensuring the safety of the entire device during extrusion.

[0029] The brake assembly includes a brake shaft 9, one end of which is formed with a brake cylinder 10, the open end of which extends from the end of the stator assembly away from the fixed end plate 8 into the gap between the bearing squeeze block 5 and the brake housing, and extends to fit with the fixed end plate 8; so that the brake cylinder 10 and the stator assembly cooperate to form a two-layer magnetorheological fluid working gap. Magnetorheological fluid 11 is filled between the outer wall of the brake cylinder 10 and the brake housing and the magnetic isolation plate 3, and between the inner wall of the brake cylinder 10 and the bearing squeeze block 5 and the conical column 6. As an embodiment, a plurality of through holes are distributed on the brake cylinder 10; in this way, during the extrusion process of the bearing squeeze block 5, the magnetorheological fluid 11 can flow, so that the magnetorheological fluid 11 on both sides of the brake cylinder 10 is more uniform; and after the magnetorheological fluid 11 in the through hole is solidified, it can more effectively prevent the brake cylinder 10 from rotating, thereby effectively improving the braking effect. An inner end cover 12 is provided inside the brake cylinder 10, and an outer end cover 13 is provided outside, wherein the inner end cover 12 is fixedly connected to the stator core shaft 4, and the outer end cover 13 is fixedly connected to the stator housing 1, and the inner end cover 12 and the outer end cover 13 are respectively fitted with the inner wall and the outer wall of the brake cylinder 10. A sealing gasket 17 is provided between the outer end cover 13 and the brake cylinder 10 and between the inner end cover 12 and the brake cylinder 10 to prevent leakage of the magnetorheological fluid 11 during operation. During implementation, a thrust bearing 14 is also provided between the brake shaft 9 and the inner end cover 12, and the thrust bearing 14 adopts a thrust cylindrical roller bearing, so as to prevent the axial force generated by the brake shaft 9 from affecting the entire device. During assembly, a boss is provided on each side of the brake shaft 9 facing the inner end cover 12, and the thrust bearing 14 is interference-fitted with the two bosses.

[0030] Two excitation coils 2 with opposite winding directions are arranged in each coil slot to form an out-of-phase winding; combined with the characteristics of the out-of-phase winding, the magnetic lines of force generated can pass through the stator housing 1 wound by the adjacent excitation coils 2, so that the magnetic flux density when passing through the magnetorheological fluid 11 is effectively increased, and the magnetic induction intensity and its axial distribution uniformity in the working chamber are also significantly enhanced. The brake shaft 9 has a brake cylinder 10 structure, so that two magnetorheological fluid 11 brake layers are formed between the stator assembly, thereby generating a higher braking torque density. At the same time, using the electromagnetic force generated by the excitation coil 2 itself, each magnetic pole corresponds to a bearing squeeze block 5, and the bearing squeeze block 5 uses the electromagnetic attraction generated by the energized excitation coil 2 to compress the magnetorheological fluid 11 on the inner side of the rotor; enhancing the braking effect of the magnetorheological fluid 11. A reset spring 7 is arranged between the bearing squeeze block 5 and the brake core shaft, and the reset spring 7 can make the bearing squeeze block 5 quickly return to its initial position after the excitation coil 2 is disconnected from the power supply.

[0031] In this scheme, the calculation formula for the braking torque of the device when it is powered on is:

[0032]

[0033] Wherein, z is the actual axial length of the magnetorheological fluid 11; R2 and R3 are the inner and outer diameters of the inner magnetorheological fluid 11; R4 and R5 are the inner and outer diameters of the outer magnetorheological fluid 11; τ(H) is the yield stress of the fluid; K1 and K2 are τ(H) and τ, respectively. f The contribution coefficient is η, the fluid viscosity is ω, and the rotor speed is X, which is the ratio of the magnetorheological fluid 11 that effectively transmits the braking torque in the working gap to the total magnetorheological fluid 11.

[0034] The shear stress generated by friction between magnetic particles during extrusion is:

[0035]

[0036] Where, σ is the extrusion stress of the magnetorheological fluid 11 on the inner side of the rotor; τ b is the shear strength between magnetic particles; C is the correction factor; σ s is the yield limit.

[0037] During operation, the brake device transmits the braking torque through the coupling, and when the rotor rotates, the braking torque is transmitted through the magnetorheological fluid 11. At the beginning, the excitation coil 2 is not energized, and no electromagnetic field is generated. The magnetorheology between the stator and the rotor presents the characteristics of a low-viscosity Newtonian fluid, and the torque transmitted is very small or almost no torque is transmitted. After the excitation coil 2 is powered on, an electromagnetic field is generated, and each adjacent coil is wound in opposite directions, ensuring that the magnetic lines of force generated by the excitation coil 2 can have multiple circulation paths in the stator, thereby ensuring that the magnetic flux density of each magnetic pole is enhanced and stabilized. The magnetic lines of force generated are radially passing through the two layers of magnetorheological fluid 11 between the stator and the brake cylinder. The magnetic particles in the magnetorheological fluid 11 are instantly chained, and their direction is parallel to the direction of the magnetic lines of force. The magnetorheological fluid 11 changes from a Newtonian fluid state to a solid-like state. The brake shaft 9 will transmit its braking torque to the connected device. The torque transmitted by the magnetorheological fluid 11 as a medium increases with the increase of the magnetic field strength. When powered on, the inner and outer regions of the magnetorheological fluid 11 have similar magnetic flux densities, the magnetorheological fluid is fully activated in this working gap, and the magnetic flux distribution of adjacent coils is almost the same, which ensures the stability of the device. The activation area of ​​the magnetorheological fluid 11 can be flexibly adjusted by changing the number of magnetic poles, and the magnetic field strength can be adjusted by the input current. At the same time, the electromagnetic force can also be adjusted by the strength of the input current. The magnetic poles of the electromagnetic coil in the stator structure of the brake are perpendicular to the radial direction of the bearing extrusion block 5; in this way, the electromagnetic force is used to attract the bearing extrusion block 5 structure, thereby compressing the magnetorheological fluid in the working gap, thereby enhancing the braking torque, reducing the structural volume of the auxiliary extrusion device and its power source, and improving the energy utilization efficiency of the device, reflecting the potential of the device in applications requiring compact structure, high braking torque and fast response.

[0038] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit the technical solution. Those skilled in the art should understand that those modifications or equivalent substitutions of the technical solution of the present invention that do not depart from the purpose and scope of the technical solution should be included in the scope of the claims of the present invention.

Claims

1. A multi-pole bearing type magnetorheological brake based on electromagnetic force enhanced magnetorheological fluid, comprising a stator assembly and a brake assembly, characterized in that: The stator assembly comprises a cylindrical stator shell, and a plurality of coil slots are distributed around the inner wall of the stator shell, and the coil slots are arranged along the axial direction of the stator shell and penetrate the two ends of the stator shell; an excitation coil is wound in the coil slot, wherein the winding directions of two adjacent excitation coils are in opposite directions; a magnetic isolation plate is arranged at the opening of the coil slot, and the excitation coil is enclosed in the coil slot through the magnetic isolation plate; A stator core shaft is arranged in the stator housing, and there is a gap between the side wall of the stator core shaft and the inner wall of the stator housing; a plurality of bearing shell extrusion blocks are evenly distributed around the outer side of the stator core shaft, a conical column is arranged between two adjacent bearing shell extrusion blocks, and the two sides of the bearing shell extrusion block are attached to and connected with the side walls of the two adjacent conical columns by sliding fit; a reset spring is arranged between the bearing shell extrusion block and the stator core shaft, and in the initial state, under the action of the reset spring, the bearing shell extrusion block is attached to the stator core shaft, and there is a gap between the outer side of the bearing shell extrusion block and the inner side of the stator housing; one end of the stator core shaft is fixedly connected to the stator housing through a fixed end plate, and the gap between the stator core shaft and the stator housing is closed; The brake assembly includes a brake shaft, one end of which is formed with a brake cylinder, the open end of which extends from the end of the stator assembly away from the fixed end plate into the gap between the bearing extrusion block and the brake housing, and extends to fit with the fixed end plate; magnetorheological fluid is filled between the outer wall of the brake cylinder and the brake housing and the magnetic isolation plate, and between the inner wall of the brake cylinder and the bearing extrusion block and the conical column; an inner end cover is provided on the inner side of the brake cylinder, and an outer end cover is provided on the outer side, wherein the inner end cover is fixedly connected to the stator core shaft, and the outer end cover is fixedly connected to the stator housing, and the inner end cover and the outer end cover are respectively fitted with the inner wall and outer wall of the brake cylinder.

2. The multi-pole bearing type magnetorheological brake based on electromagnetic force enhanced magnetorheological fluid according to claim 1 is characterized in that: A thrust bearing is also provided between the brake shaft and the inner end cover.

3. The multi-pole bearing type magnetorheological brake based on electromagnetic force enhanced magnetorheological fluid according to claim 2 is characterized in that: A boss is respectively arranged on one side of the brake shaft facing the inner end cover, and the thrust bearing is interference-fitted with the two bosses.

4. The multi-pole bearing type magnetorheological brake based on electromagnetic force enhanced magnetorheological fluid according to claim 1 is characterized in that: On the stator core shaft, a limit groove block is respectively provided corresponding to each bearing extrusion block. The limit groove block is fixedly connected to the stator core shaft, and a T-shaped groove is provided on the side close to the bearing extrusion block. Correspondingly, a T-shaped limit block is provided on the side of the bearing extrusion block close to the limit groove block, and the T-shaped limit block is located in the T-shaped groove; the reset spring is located in the limit groove block and between the side plate of the T-shaped limit block away from the bearing extrusion block and the side wall of the T-shaped groove close to the opening.

5. The multi-pole bearing type magnetorheological brake based on electromagnetic force enhanced magnetorheological fluid according to claim 1 is characterized in that: Sealing gaskets are arranged between the outer end cover and the brake cylinder as well as between the inner end cover and the brake cylinder.

6. The multi-pole bearing type magnetorheological brake based on electromagnetic force enhanced magnetorheological fluid according to claim 1 is characterized in that: A plurality of through holes are distributed on the brake cylinder.

7. The multi-pole bearing type magnetorheological brake based on electromagnetic force enhanced magnetorheological fluid according to claim 1 is characterized in that: Sealing gaskets are arranged between the two sides of the bearing bush extrusion block and the tapered columns.

8. The multi-pole bearing type magnetorheological brake based on electromagnetic force enhanced magnetorheological fluid according to claim 1, characterized in that: The magnetic isolation plate and the conical column are both made of aluminum or aluminum alloy material.

9. The multi-pole bearing type magnetorheological brake based on electromagnetic force enhanced magnetorheological fluid according to claim 1, characterized in that: The fixed end plate is made of aluminum alloy material.

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