A multi-pole bearing-type magnetorheological brake based on electromagnetic force-enhanced magnetorheological fluid

Abstract

The present invention discloses a multi-pole bearing-type magnetorheological brake based on electromagnetic force-enhanced magnetorheological fluid, comprising a stator assembly and a brake assembly. The stator assembly comprises a stator housing, an excitation coil disposed within the stator housing; a stator core shaft disposed within the stator housing, and several bearing extrusion blocks distributed outside the stator core shaft; a return spring disposed between the bearing extrusion blocks and the stator core shaft; and a brake assembly comprising a brake shaft, one end of which is formed with a brake cylinder, the open end of which extends into the gap between the bearing extrusion blocks and the brake housing. 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 blocks and the tapered column. An inner end cap is disposed on the inner side of the brake cylinder, and an outer end cap is disposed on the outer side. The present invention has a simpler structure, can effectively enhance the braking torque of the brake, and can reduce the volume of the entire brake.

Description

Technical Field

[0001] The present 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. Magnetorheological fluid is often used to transmit torque and power to mechanical equipment due to its controllability, fast response, low energy consumption, reusability and wide adaptability. By utilizing the three operating modes of magnetorheological fluid - shear, extrusion and flow, researchers have developed various magnetorheological devices. Magnetorheological brakes rely on magnetorheological fluid as a transmission medium to operate in shear mode. By changing the applied magnetic field strength to adjust the shear yield stress of the magnetorheological fluid, different braking torque outputs can be generated. It is a new application of magnetorheological fluid 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 of the brake cylinder of the device deviates from the axis 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 a shape memory alloy cooperative drum-type magnetorheological fluid brake device disclosed in CN207470647U. The device is provided with several friction blocks 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. The device is equipped 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 problems of poor braking effect and poor stability of existing magnetorheological fluids in high-temperature environments by continuously cooling the base liquid.

[0004] The aforementioned research has significantly advanced the field of magnetorheological fluid (MRF) transmission. However, most of this research relies on adding additional structures to conventional devices to enhance braking torque, failing to consider the limitations of MRF redundancy in complex and changing environments. Furthermore, the torque transmission performance of MRF is primarily based on the shearing of the magnetic flux generated by the MRF in a magnetic field after the excitation coil is energized. However, the electromagnetic force is not fully utilized. External heat sinks or additional MRF extrusion devices are often added, but due to space constraints, these auxiliary devices often provide insufficient extrusion force, resulting in excessively complex and bulky structures. Therefore, how to utilize the electromagnetic energy generated by the excitation coil itself to increase the braking torque of the MRF when it reaches magnetic saturation, while also simplifying the size of the MRF transmission mechanism, is crucial for reducing the size of the MRF transmission device itself, exploring the performance of the MRF and excitation coil, and impacting the overall transmission performance of the device. Summary of the Invention

[0005] In view of the above-mentioned deficiencies in the prior art, the purpose 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 both ends of the stator shell; excitation coils are wound in the coil slots, 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 provided in the stator housing, with 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 tapered column is provided between two adjacent bearing shell extrusion blocks, and the two sides of the bearing shell extrusion block are in contact with and slidably connected to the side walls of the two adjacent tapered columns; a return spring is provided between the bearing shell extrusion block and the stator core shaft, and in an initial state, under the action of the return spring, the bearing shell extrusion block is in contact with the stator core shaft, and a gap is provided 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 via 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 the brake cylinder 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 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-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-slot; the reset spring is located in the limit slot 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-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 bush extrusion block and the tapered 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 existing technologies, the present invention offers the following advantages: By incorporating the characteristics of out-of-phase windings, the generated magnetic flux lines can pass through the stator housing wound around adjacent excitation coils, effectively increasing the magnetic flux density through the magnetorheological fluid and significantly enhancing the magnetic induction intensity and axial distribution uniformity of the working chamber. The brake shaft utilizes a cylindrical design, providing two magnetorheological fluid braking layers between the stator's working gap, thereby generating a higher braking torque density. Furthermore, the electromagnetic force generated by the excitation coils is utilized, and each magnetic pole corresponds to a bearing block. These blocks utilize the electromagnetic attraction generated by the energized excitation coils to compress the magnetorheological fluid inside the rotor, enhancing the braking effect of the magnetorheological fluid. A return spring mounted on the bearing block's stopper acts as a positioning spring, enabling the bearing block to quickly return to its initial position after power is disconnected, ensuring consistent braking torque accuracy during subsequent use. The bearing structure within the stator squeezes the MR fluid under electromagnetic attraction, achieving enhanced MR extrusion without the addition of additional structures or equipment. Simultaneously, by adjusting the current, the magnetic flux through the MR fluid and the electromagnetic squeezing force can be precisely controlled, expanding the controllable range of 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 Cross-sectional view along AA direction.

[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 extrusion block, 6 - tapered column, 7 - return 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 - limit slot block, 16 - limit block, 17 - sealing gasket. DETAILED DESCRIPTION

[0023] The present invention will be further described below with reference to 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 invention claimed for protection, but merely represents 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 making creative work are within the scope of protection of the present invention.

[0025] It should be noted that similar reference numerals and letters denote similar items in the following figures. Therefore, once an item is defined in one figure, it does not require further definition or explanation in subsequent figures. In the description of the present invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the figures, or the orientations or positional relationships in which the inventive product is typically placed when in use. These terms are intended solely to facilitate the description of the present invention and simplify the description. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation, and are therefore not to be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third," etc., are used solely to distinguish descriptions and are not to be construed as indicating or implying relative importance. Furthermore, terms such as "horizontal" and "vertical" do not imply that a component must be absolutely horizontal or overhanging, but rather may be slightly tilted. For example, "horizontal" simply refers to a direction that is more horizontal than "vertical," and does not imply that the structure must be completely horizontal, but rather may be slightly tilted. In the description of the present invention, it should also be noted that, unless otherwise expressly specified or limited, the terms "disposed," "installed," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to mechanical connections or electrical connections; they may refer to direct connections or indirect connections through an intermediate medium; and they may refer to internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0026] Example: See Figures 1 to 4A multi-pole bearing-type magnetorheological brake based on electromagnetic force-enhanced magnetorheological fluid includes 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 pass through both 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 in opposite directions (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 skeleton 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. During implementation, 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, which has a better magnetic isolation effect.

[0027] A stator core shaft 4 is provided in the stator housing 1, and a gap exists 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 faces, and a bearing extrusion block 5 is provided on each side face. A conical column 6 is provided 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 provided 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 tapered column 6 are all consistent with the length of the stator core shaft 4, wherein the tapered 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 tapered column 6 is also made of aluminum or aluminum alloy material; in this way, through the cooperation of the fixed end plate 8, the tapered 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 applied.

[0028] A return spring 7 is provided between the bearing extrusion block 5 and the stator core shaft 4; in the initial state, under the action of the return spring 7, the bearing extrusion block 5 fits the stator core shaft 4, and there is a gap between the outer side of the bearing 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 extrusion block 5. 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 extrusion block 5. Correspondingly, a T-shaped limit block 16 is provided on the side of the bearing 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 return 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 extrusion block 5 and the side wall of the T-shaped slot close to the opening. The cooperation between the limiting groove block 15 and the limiting block 16 can limit the excessive displacement of the bearing shell extrusion block 5 when the electromagnetic attraction 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 the brake cylinder 10 extends from the end of the stator assembly away from the fixed end plate 8 into the gap between the bearing extrusion block 5 and the brake housing, and extends until it contacts the fixed end plate 8, thereby forming a two-layer magnetorheological fluid working gap between the brake cylinder 10 and the stator assembly. Magnetorheological fluid 11 is filled between the outer wall of the brake cylinder 10 and the brake housing and magnetic isolation plate 3, and between the inner wall of the brake cylinder 10 and the bearing extrusion block 5 and tapered column 6. In one embodiment, a plurality of through-holes are distributed throughout the brake cylinder 10. This allows the magnetorheological fluid 11 to flow during the extrusion process of the bearing extrusion block 5, thereby achieving greater uniformity of the magnetorheological fluid 11 on both sides of the brake cylinder 10. Furthermore, after the magnetorheological fluid 11 in the through-holes solidifies, it can more effectively prevent the brake cylinder 10 from rotating, thereby effectively improving the braking effect. An inner end cap 12 is installed inside the brake cylinder 10, and an outer end cap 13 is installed outside. The inner end cap 12 is fixedly connected to the stator core shaft 4, while the outer end cap 13 is fixedly connected to the stator housing 1. The inner and outer end caps 12 and 13 respectively adhere to the inner and outer walls of the brake cylinder 10. Sealing gaskets 17 are installed between the outer end cap 13 and the brake cylinder 10, and between the inner end cap 12 and the brake cylinder 10, to prevent leakage of the magnetorheological fluid 11 during operation. During operation, a thrust bearing 14, a cylindrical roller thrust bearing, is installed between the brake shaft 9 and the inner end cap 12 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 cap 12. The thrust bearing 14 has an interference fit with both bosses.

[0030] Two excitation coils 2 with opposite winding directions are installed in each coil slot, forming out-of-phase windings. Due to the characteristics of out-of-phase windings, the generated magnetic flux lines can pass through the stator housing 1 around adjacent excitation coils 2, effectively increasing the magnetic flux density when passing through the magnetorheological fluid 11. The magnetic induction intensity and its axial distribution uniformity in the working chamber are also significantly enhanced. The brake shaft 9 incorporates a brake cylinder 10 structure, forming two braking layers of magnetorheological fluid 11 between the brake shaft 9 and the stator assembly, thereby generating a higher braking torque density. Simultaneously, utilizing the electromagnetic force generated by the excitation coils 2, each magnetic pole corresponds to a bearing block 5. These blocks compress the magnetorheological fluid 11 inside the rotor using the electromagnetic attraction generated by the energized excitation coils 2, thereby enhancing the braking effect of the magnetorheological fluid 11. A return spring 7 is provided between the bearing block 5 and the brake core shaft. This return spring 7 ensures that the bearing block 5 quickly returns to its initial position after the excitation coils 2 are de-energized.

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

[0032]

[0033] Where 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 on the magnetorheological fluid 11 inside the rotor; τ b is the shear strength between magnetic particles; C is the correction coefficient; σ s is the yield limit.

[0037] During operation, the brake device transmits braking torque through the coupling. When the rotor rotates, the braking torque is transmitted through the magnetorheological fluid 11. Initially, the excitation coil 2 is de-energized and no electromagnetic field is generated. The magnetorheological fluid between the stator and rotor exhibits the characteristics of a low-viscosity Newtonian fluid, transmitting little or no torque. After the excitation coil 2 is powered on, an electromagnetic field is generated. Each adjacent coil is wound in opposite directions, ensuring that the magnetic lines of force generated by the excitation coil 2 can circulate multiple times in the stator, thereby ensuring that the magnetic flux density of each magnetic pole is enhanced and stabilized. The generated magnetic lines of force radially pass through the two layers of magnetorheological fluid 11 between the stator and the brake cylinder. The magnetic particles in the magnetorheological fluid 11 instantly chain, their direction 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 magnetic field strength. When powered, 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 identical, ensuring the stability of the device. The activation area of ​​the magnetorheological fluid 11 can be flexibly adjusted by changing the number of magnetic poles, while the magnetic field strength can be adjusted by the input current. The electromagnetic force can also be adjusted by varying the input current. The magnetic poles of the electromagnetic coil in the brake's stator structure are perpendicular to the radial direction of the bearing extrusion block 5. Thus, 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 device's energy efficiency. This demonstrates the device's potential in applications requiring a 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 solutions of the present invention rather than to limit the technical solutions. Those skilled in the art should understand that modifications or equivalent replacements of the technical solutions of the present invention that do not depart from the purpose and scope of the technical solutions of the present invention 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 includes a cylindrical stator housing, with a plurality of coil slots distributed around the inner wall of the stator housing. The coil slots are arranged along the axial direction of the stator housing and pass through both ends of the stator housing. Excitation coils are wound in the coil slots, 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. A stator core shaft is provided in the stator housing, with 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 tapered column is provided between two adjacent bearing shell extrusion blocks, and the two sides of the bearing shell extrusion block are in contact with and slidably connected to the side walls of the two adjacent tapered columns; a return spring is provided between the bearing shell extrusion block and the stator core shaft, and in an initial state, under the action of the return spring, the bearing shell extrusion block is in contact with the stator core shaft, and a gap is provided 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 via 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 the brake cylinder 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, 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, characterized in that: A boss is respectively provided 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, characterized in that: On the stator core shaft, a limit slot block is provided corresponding to each bearing extrusion block. The limit slot block is fixedly connected to the stator core shaft, and a T-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-slot; the reset spring is located in the limit slot 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-slot close to the opening.

5. The multi-pole bearing-type magnetorheological brake based on electromagnetic force-enhanced magnetorheological fluid according to claim 1, characterized in that: Sealing washers are provided 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, 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, characterized in that: Sealing gaskets are provided 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.

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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