Damping-adjustable magnetorheological hybrid active suspension

Abstract

The invention discloses a magnetorheological hybrid active suspension with adjustable damping, and belongs to the technical field of vehicle vibration reduction. The suspension comprises a rotating motor, a rotating magnetorheological damper, a lead screw assembly and the like. The rotary magneto-rheological damper comprises an outer stator, an inner rotor and a magnet exciting coil, and a magneto-rheological medium is filled between the inner rotor and the outer rotor; the lead screw assembly converts rotary motion into linear motion through a lead screw nut so as to adjust the height of the suspension. By controlling the current of the magnet exciting coil, the magnetorheological medium can be switched between low-viscosity Newtonian fluid and high-viscosity Bingham fluid, and a double-working-condition mode is achieved: in an active mode, the motor directly drives the lead screw to output active force; in the damping mode, the magnetorheological medium absorbs impact energy and compensates motor output, and energy consumption is greatly reduced. When the motor breaks down or turns at a high speed, by means of the characteristics of small current and large torque, required damping force can still be provided to reduce vibration and roll, and comfort and safety are guaranteed. The method has a wide application prospect in research, development and design of the hybrid active suspension of the vehicle.

Description

Technical Field

[0001] The invention relates to the technical field of vehicle vibration reduction, in particular to a magnetorheological hybrid active suspension with adjustable damping. Background Art

[0002] The suspension system is an important component of a car. Its function is to bear the weight of the car body and attenuate the vibration of the car body caused by road roughness. It mainly involves the smoothness and handling stability of the vehicle.

[0003] At present, automobile suspension is mainly divided into passive suspension, semi-active suspension and active suspension. Passive suspension can only obtain a compromise performance for various road conditions due to its fixed stiffness and damping coefficient; semi-active suspension can adjust the damping coefficient to obtain performance inferior to active suspension when dissipating energy, while reducing energy consumption; active suspension can actively output force through the actuator and adjust the main force according to the road conditions, so as to obtain the best suspension performance and always maintain comfort and handling stability.

[0004] Existing active actuators generally use linear motors and air / hydraulic active suspensions. The former requires a larger axial installation space and has higher energy consumption, while the latter has a long response time, poor real-time control effect, and requires complex gas-liquid transmission pipelines. The rotary motor with a mechanical transmission structure (such as a ball screw, gear rack, etc.) can achieve active force control within a limited suspension space. However, since the rotary motor rotor and ball screw mechanism have a non-negligible moment of inertia under high-speed rotation conditions, it has a certain impact on the control performance of the suspension system. At the same time, the rigid connection between the motor and the screw structure will inevitably transmit vibration to the vehicle body under high-speed axial impact, and will cause certain damage to the service life of the active suspension actuator device itself.

[0005] Therefore, how to achieve a larger active control force output within a limited suspension space while avoiding the hazards of high-speed axial impact, reducing energy consumption and ensuring rapid response has become an urgent problem to be solved in the field of active suspension technology. Summary of the invention

[0006] The purpose of the present invention is to achieve a larger active control force output within a limited suspension space, while avoiding the hazards of high-speed axial impact, reducing energy consumption and ensuring rapid response. In order to achieve the above purpose, the present invention provides a magnetorheological hybrid active suspension with adjustable damping, comprising: A rotating motor, which is fixedly mounted in the motor outer cylinder and is in driving connection with the lead screw assembly, and is used to drive the lead screw assembly to change its own length to adjust the vibration change of the vehicle body; A rotating magnetorheological damper is provided with an outer stator, an inner rotor and an excitation coil. The inner rotor is fixedly connected to a screw assembly. The viscosity and shear yield strength of the magnetorheological medium filled between the outer stator and the inner rotor are changed by adjusting the current of the excitation coil to adjust the damping torque of the screw assembly connected to the inner rotor relative to the outer stator.

[0007] In some embodiments, the rotary magnetorheological damper includes a damper housing and a damper front baffle and a sealing end cover that fix and encapsulate the damper housing; The damper housing is coaxially arranged with an excitation coil, an outer stator, and an inner rotor from outside to inside; the outer stator is fixedly installed in the damper housing and the excitation coil is fixedly encapsulated between the outer stator and the damper housing; and a magnetorheological medium is filled between the outer stator and the inner rotor.

[0008] In some embodiments, the screw assembly includes a screw outer cylinder, a front flange is fixedly mounted on one end of the screw outer cylinder away from the rotating motor, and the front flange is slidably connected to the outer wall of the output rod to guide the output rod to slide in a directional manner; A lead screw nut is fixedly installed at one end of the output rod, and the other end is fixedly connected to an internal threaded plug and connected to a load connector via the internal threaded plug; a cavity is provided inside the output rod, a lead screw meshing with the lead screw nut is arranged in the cavity, and one end of the lead screw is fixedly connected to the inner rotor.

[0009] In some embodiments, the rotary magnetorheological damper is located between the rotary motor and the lead screw assembly, and transmits the torque of the rotary motor to the lead screw assembly coaxially; The rotating magnetorheological damper is located in the connecting seat and is fixedly connected to the inner wall of the connecting seat through the damper housing; one end of the connecting seat is fixedly connected to the outer cylinder of the motor through the mounting plate, and the other end is fixedly connected to the bearing seat; A deep groove ball bearing is fixedly installed in the bearing seat, and one end of the bearing seat away from the motor outer cylinder is fixedly connected to the screw outer cylinder; One end of the lead screw close to the inner rotor passes through the deep groove ball bearing and enters the connecting seat, and is fixedly connected to the inner rotor.

[0010] In some embodiments, the output shaft and the lead screw of the rotating motor are respectively plugged and fixed at two ends of the inner rotor.

[0011] In some embodiments, the outer surface of the output shaft of the rotating motor is sleeved with a rear deep groove ball bearing and a damper rear flange; The damper rear flange is fixedly connected to the damper housing; the output shaft of the rotary motor is rotatably connected to the damper rear flange via a rear deep groove ball bearing; The outer surface of one end of the lead screw close to the rotating motor is sequentially sleeved with a sealing end cover, a front deep groove ball bearing and a damper front flange; The damper front flange is fixedly connected to the damper front baffle; the lead screw is rotatably connected to the damper front flange via a front deep groove ball bearing; the lead screw is interference fit with the sealing end cover.

[0012] In some embodiments, the rotary motor is located between the rotary magnetorheological damper and the lead screw assembly; The rotating magnetorheological damper is located in the motor outer cylinder and is fixedly connected to the inner wall of the motor outer cylinder through the damper housing; One end of the motor outer cylinder is fixedly connected to the bearing seat; and one end of the bearing seat away from the motor outer cylinder is fixedly connected to the lead screw outer cylinder.

[0013] In some embodiments, a deep groove ball bearing is fixedly installed in the bearing seat; One end of the lead screw passes through the deep groove ball bearing, the rotary motor, the damper front baffle, the inner rotor and the damper housing in sequence, and is fixedly connected to the inner rotor.

[0014] In some embodiments, a sealing end cover, a front deep groove ball bearing and a damper front flange are sleeved between the outer surface of the lead screw and the damper front baffle, and the damper front flange is fixedly connected to the damper front baffle; the lead screw is rotatably connected to the damper front flange through the front deep groove ball bearing; the lead screw and the sealing end cover are interference fit; A rear deep groove ball bearing and a damper rear flange are sequentially sleeved between the outer surface of the lead screw and the damper housing; the damper rear flange is fixedly connected to the damper housing; and the lead screw is rotatably connected to the damper rear flange via the rear deep groove ball bearing.

[0015] In some embodiments, an outer disk is disposed on the inner surface of the outer stator, and an inner disk is disposed on the outer surface of the inner rotor corresponding to the outer disk.

[0016] The beneficial effect of the present invention lies in that, by introducing a rotary magnetorheological damper into an active suspension structure composed of a rotary motor and a screw assembly, the magnetorheological medium in the rotary magnetorheological damper can change the viscosity of the fluid under different magnetic field intensities, so that when the vehicle is subjected to high-frequency excitation, high-speed axial impact or the suspension needs to be actively pulled down and lifted, the present invention can change the parameter characteristics of the rotary magnetorheological damper by adjusting the current size, and rely on the rapid response of the magnetorheological medium to provide damping torque to the hybrid active suspension at low power consumption, compensate for the main power of the rotary motor, dissipate high-speed axial impact, and recover part of the energy at the same time.

[0017] Moreover, due to the compact design of the overall structure of the invention, it can provide sufficient suspension control force with low energy consumption within the limited suspension installation space. When the suspension rotary motor fails, the rotary magnetorheological damper can still provide the required damping force when the vehicle encounters bumpy roads, reduce body vibration, and improve suspension comfort by relying on its characteristic of "small current providing large torque". When the vehicle is cornering at high speed, it can still increase damping, make the outer suspension "hard", reduce vehicle roll, support the body and ensure driving safety. It has broad application prospects in the research and development of hybrid active suspension for real vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a cross-sectional view of embodiment 1 of the present invention.

[0019] Figure 2 yes Figure 1 A partial enlarged view of Example 1 is shown.

[0020] Figure 3 It is a cross-sectional view of embodiment 2 of the present invention.

[0021] Figure 4 yes Figure 3 A partial enlarged view of Example 2 is shown.

[0022] In the figure: 1. rotating motor; 2. mounting plate; 3. damper rear flange; 4. rear deep groove ball bearing; 5. damper housing; 6. excitation coil; 7. outer stator; 8. inner disc; 9. outer disc; 10. bearing seat; 11. lead screw nut; 12. lead screw; 13. output lever; 14. front flange; 15. internal thread plug; 16. lead screw outer cylinder; 17. deep groove ball bearing; 18. damper front flange; 19. damper front baffle; 20. front deep groove ball bearing; 21. sealing end cover; 22. connecting seat; 23. inner rotor; 24. motor outer cylinder. DETAILED DESCRIPTION

[0023] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention. Example 1

[0024] like Figure 1-Figure 2As shown, the present invention provides a magnetorheological hybrid active suspension with adjustable damping, comprising: a rotating motor 1, wherein the rotating motor 1 is fixedly mounted in a motor outer cylinder 24 and is transmission-connected to a lead screw assembly, and is used to drive the lead screw assembly to change its own length to adjust the vibration change of the vehicle body; when the vehicle senses that the vehicle is vibrating due to road bumps with the cooperation of many electronic components such as on-board sensors, the on-board control system will immediately control the rotating motor 1 to start, and provide torque for the lead screw assembly to drive the lead screw assembly to change its own height. For example, when a vehicle passes over a speed bump, the wheels jump up due to the impact of the speed bump, and the active suspension will transmit the vibration to the vehicle body. At this time, the vehicle body has an upward sprung acceleration, and the rotating motor 1 will drive the height change of the screw assembly and pull the vehicle body downward, thereby keeping the vehicle body at a constant height, reducing the external disturbance felt by the driver and passengers, and improving ride comfort; when the vehicle needs greater grip, such as high-speed cornering or rapid lane changes, the rotating motor 1 can also drive the height change of the screw assembly to quickly push the tire downward to touch the ground, thereby ensuring the tire's grip, reducing roll, quickly responding to changes in lateral force, stabilizing the vehicle body posture, and maximizing the driving force of the vehicle itself to improve the vehicle's handling stability.

[0025] However, such vibration or vibration reduction requirements are often frequent during the driving process of the vehicle, that is, the rotating motor 1 is repeatedly required to provide positive and negative torques. Since the rotor and the lead screw of the rotating motor 1 have a non-negligible moment of inertia under high-speed rotation conditions, it has a certain influence on the control performance of the suspension system. When the rotating motor 1 switches the output of positive and negative torques, it is necessary to consume additional energy to compensate for the kinetic energy formed by this part of the moment of inertia, which also causes the increase of energy consumption and shortening of the service life of the rotating motor 1. At the same time, the rigid connection between the rotating motor 1 and the lead screw assembly will inevitably transmit vibrations to the vehicle body under high-speed axial impact. Therefore, in this embodiment, the rotating motor 1 is connected to the lead screw assembly by a rotating magnetorheological damper to overcome the additional consumption of the torque of the rotating motor 1 by the above-mentioned moment of inertia and reduce the influence of the rigid connection between the rotating motor 1 and the lead screw assembly on the vehicle body.

[0026] For details, see Figure 2 As shown, the rotating magnetorheological damper is provided with an outer stator 7, an inner rotor 23 and an excitation coil 6. The inner rotor 23 can rotate relative to the outer stator 7. When the current passed through the excitation coil 6 is changed, the magnetic field generated by the excitation coil 6 will change the viscosity and shear yield strength of the magnetorheological medium filled between the inner rotor 23 and the outer stator 7. When the screw assembly generates a moment of inertia in the face of axial impact or height change, the torque generated by the moment of inertia or axial impact will be transmitted to the magnetorheological medium through the inner rotor 23 connected to the screw assembly for energy dissipation, thereby solving the influence of the above-mentioned moment of inertia and axial impact on the vehicle body vibration reduction and handling stability.

[0027] Optionally, the rotating magnetorheological damper includes a damper housing 5 and a damper front baffle 19 and a sealing end cover 21 that fixedly encapsulate the damper housing 5; the damper housing 5 is coaxially arranged with an excitation coil 6, an outer stator 7, and an inner rotor 23 from the outside to the inside; the outer stator 7 is fixedly installed in the damper housing 5 and the excitation coil 6 is fixedly encapsulated between the outer stator 7 and the damper housing 5; the outer stator 7 and the inner rotor 23 are filled with magnetorheological medium.

[0028] Specifically, the entire rotating magnetorheological damper is fixedly installed in the connecting seat 22 through the damper housing 5, and the inner rotor 23 can rotate relative to the outer stator 7. Because the inner rotor 23 and the outer stator 7 are filled with magnetorheological medium, in order to avoid leakage of the magnetorheological medium, when the damper housing 5 is packaged, a sealing end cover 21 is installed on the side of the front deep groove ball bearing 20 close to the inner rotor 23. The sealing end cover 21 is a common sealing structure, and its outer ring is generally provided with a sealing ring. It can be restricted to the inner rotor 23 by the interference fit with the lead screw 12 and the extrusion of the front deep groove ball bearing 20 and the damper front flange 18, so as to achieve the blocking seal of the magnetorheological medium on the outside of the inner rotor 23. The specific sealing principle and structure are all prior art. Optionally, the magnetorheological medium includes but is not limited to the use of magnetorheological fluid (MRF). In detail, the magnetorheological fluid includes but is not limited to the mixture of iron powder, activator and silicone oil. The mass component of the iron powder includes but is not limited to 60% of the total magnetorheological fluid. The specific component should be determined based on the use scenario of the vibration reduction device to meet the required damping torque requirements.

[0029] When currents of different magnitudes are passed through the excitation coil 6 fixedly installed in the outer stator 7 and the damper housing 5, the excitation coil 6 can change the internal magnetic field size of the entire rotating magnetorheological damper. At this time, the viscosity and shear yield strength of the magnetorheological fluid will change due to the change in the magnetic field size. For example, when the magnetic field intensity is high, the viscosity and shear yield strength of the magnetorheological fluid will increase, and accordingly, the damping torque provided for the inner rotor 23 will be greater; when the magnetic field intensity is low, the viscosity and shear yield strength of the magnetorheological fluid will decrease, and accordingly, the damping torque provided for the inner rotor 23 will be smaller. Therefore, by flexibly changing the current size, the damping torque of the entire active suspension can be quickly and efficiently adjusted, providing a guarantee for efficient vibration reduction of the vehicle.

[0030] Optionally, the screw assembly includes a screw outer tube 16, and a front flange 14 is fixedly installed at one end of the screw outer tube 16 away from the rotating motor 1, and the front flange 14 is slidably connected to the outer wall of the output rod 13, and is used to guide the output rod 13 to slide in a directional manner; a screw nut 11 is fixedly installed at one end of the output rod 13, and the other end is fixedly connected to an internal threaded plug 15, and is connected to a load connector through the internal threaded plug 15; a cavity is opened inside the output rod 13, and a screw 12 meshing with the screw nut 11 is arranged in the cavity, and one end of the screw 12 is fixedly connected to the inner rotor 23.

[0031] Specifically, when the lead screw 12 rotates under the drive of the rotary motor 1, the lead screw nut 11 will be driven to move linearly along the height direction of the lead screw 12 through the threaded engagement transmission between the lead screw nut 11; and because the output rod 13 is fixedly connected to the lead screw nut 11 and is slidably connected to the front flange 14, the lead screw nut 11 will synchronously drive the output rod 13 to extend and retract in the lead screw outer tube 16, so as to pull down or lift up the vehicle body when the vehicle encounters external disturbances and vibrates, thereby keeping the vehicle body at a constant height and improving comfort. The type of lead screw 12 is not unique, including but not limited to ball screws, roller screws, etc., and engineers can flexibly choose according to conditions such as usage scenarios, performance indicators, service life, and maintenance costs.

[0032] Optionally, in the process of driving the screw nut 11 to move linearly along the height direction of the screw 12, in order to avoid accidental synchronous rotation of the screw nut 11 and the screw 12, a circumferential limiting structure can be added between the screw nut 11 and the wall of the screw outer tube 16 or between the output rod 13 and the front flange 14. The circumferential limiting structure includes but is not limited to a slider and a slide groove structure. For example, a slide groove can be opened on the inner wall of the screw outer tube 16 along the height direction, and a slider is provided on the outer surface of the screw nut 11, and the slider is inserted into the slide groove. When the screw nut 11 moves along the height direction of the screw 12, the slider slides with the slide groove, which on the one hand does not hinder the linear movement of the screw nut 11, and on the other hand prevents the circumferential rotation of the screw nut 11, thereby ensuring the stability of the drive of the output rod 13.

[0033] Optionally, the rotary magnetorheological damper is located between the rotary motor 1 and the screw assembly, and transmits the torque of the rotary motor 1 to the screw assembly coaxially; the rotary magnetorheological damper is located in the connecting seat 22 and is fixedly connected to the inner wall of the connecting seat 22 through the damper housing 5; one end of the connecting seat 22 is fixedly connected to the motor outer cylinder 24 through the mounting plate 2, and the other end is fixedly connected to the bearing seat 10; Optionally, a deep groove ball bearing 17 is fixedly installed in the bearing seat 10, and the end of the bearing seat 10 away from the motor outer cylinder 24 is fixedly connected to the screw outer cylinder 16; the end of the screw 12 close to the inner rotor 23 passes through the deep groove ball bearing 17 and enters the connecting seat 22, and is fixedly connected to the inner rotor 23.

[0034] Optionally, the output shaft and the lead screw 12 of the rotating electrical machine 1 are respectively plugged and fixed at two ends of the inner rotor 23 .

[0035] Optionally, the outer surface of the output shaft of the rotating electrical machine 1 is sleeved with a rear deep groove ball bearing 4 and a damper rear flange 3; The damper rear flange 3 is fixedly connected to the damper housing 5; the output shaft of the rotary motor 1 is rotatably connected to the damper rear flange 3 via the rear deep groove ball bearing 4; The outer surface of one end of the lead screw 12 close to the rotating motor 1 is sequentially sleeved with a sealing end cover 21, a front deep groove ball bearing 20 and a damper front flange 18; The damper front flange 18 is fixedly connected to the damper front baffle 19 ; the lead screw 12 is rotatably connected to the damper front flange 18 via a front deep groove ball bearing 20 ; the lead screw 12 is interference fit with the sealing end cover 21 .

[0036] Specifically, the lead screw 12 in the lead screw assembly and the output shaft of the rotary motor 1 can be respectively plugged and fixed at both ends of the inner rotor 23 by means of key connection, and then the front deep groove ball bearing 20, the rear deep groove ball bearing 4 and the deep groove ball bearing 17 are limited by the damper front flange 18 and the damper rear flange 3 to ensure the coaxiality of the output shaft of the rotary motor 1, the inner rotor 23 and the lead screw 12, thereby strengthening the stability of the connection between the three and the torque transmission process. At the same time, the front deep groove ball bearing 20, the rear deep groove ball bearing 4 and the deep groove ball bearing 17 can further reduce the rotation resistance of the output shaft of the rotary motor 1, the inner rotor 23 and the lead screw 12, and ensure the high efficiency and sensitivity of the main force adjustment.

[0037] Specifically, when the vehicle suspension requires active power control and adjustment, the excitation coil 6 is not energized, and the magnetorheological medium between the outer stator 7 and the inner rotor 23 exhibits low-viscosity Newtonian fluid characteristics. At this time, the rotating motor 1 starts to transmit the torque to the screw 12 through the output shaft and the inner rotor 23. The rotating screw 12 drives the screw nut 11 along the height direction of the screw 12 through the threaded meshing transmission and the ball bearing, and then synchronously drives the output rod 13 to extend and retract in the screw outer tube 16 to achieve the active power required under specific working conditions. During the whole process, the outer stator 7 remains stationary, and the inner rotor 23 rotates relative to the outer stator 7. There is no consumption of damping energy in the entire active power transmission path.

[0038] When the vehicle suspension needs to actively control the suspension to be pulled down or lifted (the rotating motor 1 is expected to control the rotation direction opposite to the current rotation direction of the lead screw 12), is subjected to high-frequency excitation, high-speed axial impact, or needs to change the vehicle ride comfort by adjusting the damping, the excitation coil 6 is energized, the current is adjusted, and the magnetorheological medium between the outer stator 7 and the inner rotor 23 presents the high viscosity, low fluidity Bingham fluid characteristics.

[0039] When the rotation direction of the lead screw 12 and the rotating motor 1 needs to be switched, the rotational inertia of the previous rotation direction will be absorbed and consumed by the magnetorheological medium, and the direction of the damping torque provided by the magnetorheological medium is consistent with the rotation direction of the lead screw 12 after switching and the driving direction of the rotating motor 1. Therefore, the damping torque compensates for most of the output during the switching of the rotation direction of the rotating motor 1, achieving the purpose of rapid vibration reduction response and reducing energy consumption. At the same time, external high-frequency excitation and high-speed axial impact will be converted into the rotation torque of the lead screw 12 by the threaded meshing transmission and matching balls between the lead screw 12 and the lead screw nut 11, and the high-viscosity magnetorheological medium can dissipate the impact rotation energy, further reducing the vibration of the vehicle body and extending the service life of the device.

[0040] Optionally, in order to further enhance the damping effect of the magnetorheological medium after magnetization, an outer disk 9 can be arranged on the inner surface of the outer stator 7, and an inner disk 8 can be arranged on the outer surface of the inner rotor 23. The inner disk 8 and the outer disk 9 correspond to each other one by one like comb teeth, thereby enlarging the effective area of ​​the magnetorheological medium on the inner rotor 23 and the outer stator 7 in disguised form, increasing the damping torque and making the magnetorheological medium more sensitive to the adjustment and response of the damping torque.

[0041] Optionally, in this embodiment, the rotating motor 1 can be selected as an air-cooled three-phase permanent magnet synchronous integrated motor (PMSM) developed by TRANSFLUID or a 48V mild hybrid system iBSG6HP electric generator of Shanghai Valeo, or other motor models capable of energy recovery, having both motor and generator modes, to achieve energy recovery in damping mode. Example 2

[0042] like Figure 3-Figure 4As shown, this embodiment 2 provides a magnetorheological hybrid active suspension with adjustable damping, which differs from embodiment 1 in that the rotating motor 1 is located between the rotating magnetorheological damper and the screw assembly, the rotating magnetorheological damper is located in the motor outer cylinder 24 and is fixedly connected to the inner wall of the motor outer cylinder 24 through the damper housing 5; one end of the motor outer cylinder 24 is fixedly connected to the bearing seat 10; the end of the bearing seat 10 away from the motor outer cylinder 24 is fixedly connected to the screw outer cylinder 16. Optionally, a deep groove ball bearing 17 is fixedly installed in the bearing seat 10; one end of the screw 12 passes through the deep groove ball bearing 17, the rotating motor 1, the damper front baffle 19, the inner rotor 23 and the damper housing 5 in sequence, and is fixedly connected to the inner rotor 23.

[0043] Specifically, the principle is the same as that in Example 1. When the rotating motor 1 drives the lead screw 12 to rotate, the rotating lead screw 12 will drive the lead screw nut 11 meshed with it to move along the height direction of the lead screw 12 through the threaded meshing transmission and the inner circulating ball, and then the lead screw nut 11 synchronously drives the output rod 13 to extend and retract relative to the lead screw outer tube 16 to achieve the main force required under specific working conditions. At the same time, external high-frequency excitation and high-speed axial impact will be converted into the rotational torque of the lead screw 12 by the threaded meshing transmission and the ball between the lead screw 12 and the lead screw nut 11, and the high-viscosity magnetorheological medium can dissipate the impact rotation energy, further reducing the vibration of the vehicle body and extending the service life of the device.

[0044] Optionally, a sealing end cover 21, a front deep groove ball bearing 20 and a damper front flange 18 are sleeved between the outer surface of the screw 12 and the damper front baffle 19, and the damper front flange 18 is fixedly connected to the damper front baffle 19; the screw 12 is rotatably connected to the damper front flange 18 through the front deep groove ball bearing 20; the screw 12 and the sealing end cover 21 are interference fit; a rear deep groove ball bearing 4 and a damper rear flange 3 are sequentially sleeved between the outer surface of the screw 12 and the damper housing 5; the damper rear flange 3 is fixedly connected to the damper housing 5; the screw 12 is rotatably connected to the damper rear flange 3 through the rear deep groove ball bearing 4. That is, the coaxiality of the screw 12 and the inner rotor 23 is ensured by the support of the front deep groove ball bearing 20, the rear deep groove ball bearing 4 and the deep groove ball bearing 17 through the damper front flange 18 and the damper rear flange 3. At the same time, the rotational flexibility between the screw 12 and the damper front baffle 19 and the damper housing 5 is ensured by the front deep groove ball bearing 20 and the rear deep groove ball bearing 4.

[0045] Optionally, in order to further enhance the damping effect of the magnetorheological medium after magnetization, an outer disk 9 can be arranged on the inner surface of the outer stator 7, and an inner disk 8 can be arranged on the outer surface of the inner rotor 23. The inner disk 8 and the outer disk 9 correspond to each other one by one like comb teeth, thereby enlarging the effective area of ​​the magnetorheological medium on the inner rotor 23 and the outer stator 7 in disguised form, increasing the damping torque and making the magnetorheological medium more sensitive to the adjustment and response of the damping torque.

[0046] Optionally, in this embodiment, the rotating motor 1 needs to be penetrated by one end of the screw 12, so in order to meet the above-mentioned structural layout, the rotating motor 1 can select a frameless motor in the prior art, such as the KBM frameless servo / torque motor of KOLLMORGEN or the JY frameless torque motor produced by Jingyue Technology to meet the use requirements.

[0047] In summary, the present invention introduces a rotary magnetorheological damper into the active suspension composed of a rotating motor 1 and a screw-screw nut structure. On the one hand, the magnetorheological medium filled inside the damper can change its viscosity and shear yield strength under the action of different electromagnetic fields to overcome the rotational inertia of the screw 12 and provide a damping torque in the same direction for the steering drive of the rotating motor 1, thereby compensating for most of the remaining output of the rotating motor 1 and effectively reducing energy consumption. On the other hand, the characteristics of the screw-screw nut structure and the rapid responsiveness of the magnetorheological medium are utilized to convert high-frequency excitation and high-speed axial impact to the vehicle from the outside into a rotational torque of the screw 12 through a threaded meshing transmission and a ball, and then the rotational energy is dissipated through a rotary magnetorheological damper to avoid direct impact on the rotating motor 1, the screw assembly and the vehicle body, thereby ensuring the service life of the active suspension.

Claims

1. Magnetorheological hybrid active suspension with adjustable damping, characterized in that: include: A rotating motor (1), the rotating motor (1) being fixedly mounted in a motor outer cylinder (24) and being drivingly connected to a lead screw assembly, and being used to drive the lead screw assembly to change its own length to adjust the vibration change of the vehicle body; A rotating magnetorheological damper is provided with an outer stator (7), an inner rotor (23) and an excitation coil (6); the inner rotor (23) is fixedly connected to a lead screw assembly; the viscosity and shear yield strength of a magnetorheological medium filled between the outer stator (7) and the inner rotor (23) are changed by adjusting the current of the excitation coil (6), so as to adjust the damping torque of the lead screw assembly connected to the inner rotor (23) relative to the outer stator (7).

2. The magnetorheological hybrid active suspension with adjustable damping according to claim 1, characterized in that: The rotary magnetorheological damper comprises a damper housing (5), a damper front baffle (19) and a sealing end cover (21) for fixing and encapsulating the damper housing (5); The damper housing (5) is coaxially arranged with an excitation coil (6), an outer stator (7), and an inner rotor (23) in sequence from outside to inside; the outer stator (7) is fixedly mounted in the damper housing (5) and the excitation coil (6) is fixedly encapsulated between the outer stator (7) and the damper housing (5); and a magnetorheological medium is filled between the outer stator (7) and the inner rotor (23).

3. The magnetorheological hybrid active suspension with adjustable damping according to claim 1, characterized in that: The screw assembly comprises a screw outer cylinder (16), a front flange (14) being fixedly mounted on one end of the screw outer cylinder (16) away from the rotating motor (1), the front flange (14) being slidably connected to the outer wall of the output rod (13) for guiding the output rod (13) to slide in a directional manner; A lead screw nut (11) is fixedly mounted on one end of the output rod (13), and the other end is fixedly connected to an internal thread plug (15), and is connected to a load connection member via the internal thread plug (15); a cavity is provided inside the output rod (13), a lead screw (12) meshing with the lead screw nut (11) is arranged in the cavity, and one end of the lead screw (12) is fixedly connected to the inner rotor (23).

4. The magnetorheological hybrid active suspension with adjustable damping according to any one of claims 1 to 3, characterized in that: The rotating magnetorheological damper is located between the rotating motor (1) and the screw assembly, and transmits the torque of the rotating motor (1) to the screw assembly coaxially; The rotating magnetorheological damper is located in the connection seat (22) and is fixedly connected to the inner wall of the connection seat (22) via the damper housing (5); one end of the connection seat (22) is fixedly connected to the motor outer cylinder (24) via the mounting plate (2), and the other end is fixedly connected to the bearing seat (10); A deep groove ball bearing (17) is fixedly installed in the bearing seat (10), and one end of the bearing seat (10) away from the motor outer cylinder (24) is fixedly connected to the screw outer cylinder (16); One end of the lead screw (12) close to the inner rotor (23) passes through the deep groove ball bearing (17) and enters the connecting seat (22), and is fixedly connected to the inner rotor (23).

5. The magnetorheological hybrid active suspension with adjustable damping according to claim 4, characterized in that: The output shaft and the lead screw (12) of the rotating motor (1) are respectively plugged and fixed at two ends of the inner rotor (23).

6. The magnetorheological hybrid active suspension with adjustable damping according to claim 5, characterized in that: The outer surface of the output shaft of the rotating motor (1) is sleeved with a rear deep groove ball bearing (4) and a damper rear flange (3); The damper rear flange (3) is fixedly connected to the damper housing (5); the output shaft of the rotating motor (1) is rotatably connected to the damper rear flange (3) via a rear deep groove ball bearing (4); The outer surface of one end of the lead screw (12) close to the rotating motor (1) is sequentially sleeved with a sealing end cover (21), a front deep groove ball bearing (20) and a damper front flange (18); The damper front flange (18) is fixedly connected to the damper front baffle (19); the lead screw (12) is rotatably connected to the damper front flange (18) via a front deep groove ball bearing (20); and the lead screw (12) is interference fit with the sealing end cover (21).

7. The magnetorheological hybrid active suspension with adjustable damping according to any one of claims 1 to 3, characterized in that: The rotating motor (1) is located between the rotating magnetorheological damper and the lead screw assembly; The rotating magnetorheological damper is located inside the motor outer cylinder (24) and is fixedly connected to the inner wall of the motor outer cylinder (24) through the damper housing (5); One end of the motor outer cylinder (24) is fixedly connected to the bearing seat (10); and one end of the bearing seat (10) away from the motor outer cylinder (24) is fixedly connected to the lead screw outer cylinder (16).

8. The magnetorheological hybrid active suspension with adjustable damping according to claim 7, characterized in that: A deep groove ball bearing (17) is fixedly mounted in the bearing seat (10); One end of the lead screw (12) passes through the deep groove ball bearing (17), the rotary motor (1), the damper front baffle (19), the inner rotor (23) and the damper housing (5) in sequence, and is fixedly connected to the inner rotor (23).

9. The magnetorheological hybrid active suspension with adjustable damping according to claim 8, characterized in that: A sealing end cover (21), a front deep groove ball bearing (20) and a damper front flange (18) are sleeved between the outer surface of the lead screw (12) and the damper front baffle (19); the damper front flange (18) is fixedly connected to the damper front baffle (19); the lead screw (12) is rotatably connected to the damper front flange (18) via the front deep groove ball bearing (20); the lead screw (12) and the sealing end cover (21) are interference fit; A rear deep groove ball bearing (4) and a damper rear flange (3) are sequentially sleeved between the outer surface of the lead screw (12) and the damper housing (5); the damper rear flange (3) is fixedly connected to the damper housing (5); and the lead screw (12) is rotatably connected to the damper rear flange (3) via the rear deep groove ball bearing (4).

10. The magnetorheological hybrid active suspension with adjustable damping according to claim 2, characterized in that: The inner surface of the outer stator (7) is provided with an outer disc (9), and the outer surface of the inner rotor (23) is provided with an inner disc (8) corresponding to the outer disc (9).

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