A self-lubricating planetary speed reducer and a self-lubricating method

Abstract

The present invention discloses a self-lubricating planetary speed reducer and a self-lubricating method, including: an oil storage tank disposed inside the planetary speed reducer and containing lubricating oil; an outlet opened at the bottom of the oil storage tank to communicate the inside and outside of the oil storage tank; a blocking groove opened at the bottom of the oil storage tank and coupled with the outlet in communication; a receiving groove opened at the bottom of the oil storage tank and coupled with the blocking groove in communication; and a magnetorheological fluid, which is a colloidal solution formed by dispersing nano-scale magnetic particles in a base liquid. The present invention utilizes the fluidity and controllable characteristics of the magnetorheological fluid under the action of a magnetic field, and controls the aggregation or dispersion state of the magnetorheological fluid at the outlet of the oil storage tank through the on / off and intensity change of an external magnetic field, thereby realizing the opening or closing of the outlet, and further controlling the outflow of the lubricating oil. The intermittent outflow of the lubricating oil avoids the accumulation of the lubricating oil inside the planetary speed reducer. Different from the traditional lubrication method, it can not only ensure the long-term operation of the planetary speed reducer at high temperature, but also reduce the power loss caused by oil bath lubrication.

Description

Technical Field

[0001] The invention relates to the technical field of planetary reducer transmission devices, and in particular to a self-lubricating planetary reducer and a self-lubricating method. Background Art

[0002] Planetary reducer is a widely used industrial product that can reduce the speed of the motor and increase the output torque. Its main structures are bearings, planetary gears, sun gears, and internal gear rings.

[0003] In order to reduce the wear of the planetary reducer during operation, the planetary reducer will be lubricated. The existing conventional lubrication methods for planetary reducers are:

[0004] Grease lubrication is often used in low-speed, light-load or small planetary reducers (such as micro servo reducers). Lithium-based grease (NLGI grade 2) is filled once during assembly, and the grease is diffused to the gear meshing surface through the rotation of the planet carrier. Sealed bearings (such as double-lip contact seals) are used to prevent grease leakage. The disadvantage is that the heat dissipation capacity is poor, and carbonization will occur due to temperature increase, which increases the wear of the planetary reducer during operation.

[0005] Oil bath lubrication is often used in general-purpose planetary reducers with medium and low speeds and medium loads. ISOVG220-320 mineral oil is injected into the housing, and the liquid level submerges 1 / 3-1 / 2 of the diameter of the planetary gear. When the planetary gear rotates, it stirs the oil to form splash lubrication covering the sun gear, planetary bearings and other parts. The disadvantage is that there is power loss when stirring the oil at high speed, and the power loss can reach 3%-5%. Summary of the invention

[0006] The purpose of the present invention is to provide a self-lubricating planetary reducer and a self-lubricating method, which are different from the existing conventional lubrication methods, can enable the planetary reducer to maintain operation for a long time at a temperature exceeding 80°C, and overcome the problem of power loss in oil bath lubrication.

[0007] In order to achieve the above object, the present invention adopts the following technical solutions:

[0008] A self-lubricating planetary reducer, comprising:

[0009] The oil storage tank is arranged inside the planetary reducer and contains lubricating oil;

[0010] An outlet is provided at the bottom of the oil storage tank, connecting the inside and outside of the oil storage tank;

[0011] The blocking groove is provided at the bottom of the oil storage tank and is connected and coupled with the outlet;

[0012] The containing groove is arranged at the bottom of the oil storage tank and is connected and coupled with the blocking groove;

[0013] Magnetic fluid, a colloidal solution formed by dispersing nanoscale magnetic particles in a base liquid;

[0014] Wherein, a first magnetic field and a second magnetic field are respectively arranged at both ends of the virtual line connecting the blocking groove and the accommodating groove. When only the first magnetic field exists near the magnetic fluid, the magnetic fluid flows into the blocking groove. When only the second magnetic field exists near the magnetic fluid, the magnetic fluid flows into the accommodating groove. The magnetic field intensity of the first magnetic field has two states, namely:

[0015] The first magnetic field intensity ensures the complete flow of the magnetic fluid;

[0016] The second magnetic field intensity causes the magnetic fluid to generate sufficient yield stress to seal the outlet.

[0017] Preferably, the planetary reducer further includes a housing. An internal gear ring is arranged inside the housing. The housing is rotatably connected with a planetary carrier and a coupling. The planetary carrier is rotatably connected with three planetary gears through bearings. All three planetary gears are meshed and connected with the internal gear ring. The coupling is coaxially and fixedly connected with a sun gear. The sun gear is located between the three planetary gears and is meshed and connected with the three planetary gears.

[0018] Preferably, an inclined plate is detachably arranged inside the housing by bolts. A magnetic layer is arranged on one side of the inclined plate facing away from the outlet. One end of the inclined plate close to the planetary gear is flush with the planetary gear.

[0019] Preferably, receiving cylinders are arranged at two symmetrical positions of the housing. An iron core is fixedly connected inside the receiving cylinder. An induction coil is wound around the iron core. A control system is also arranged on the housing. Both ends of the two induction coils are connected to the control system. The on-off and magnetic field intensity of the two induction coils are controlled through the control system.

[0020] Preferably, the control system includes:

[0021] A power supply module for providing power;

[0022] A control module for receiving signals and sending control instructions;

[0023] A switching module for controlling the on-off of its circuit through the instruction of the control module and switching the connection state of the circuit;

[0024] And a resistance adjustment module for adjusting the resistance value in the circuit forming the first magnetic field.

[0025] Preferably, the switching module is set with a timing switching mode through a timer. When the set switching time interval is reached, the control module issues a switching instruction, and the intermittent on-off of the two relays respectively connected to the two induction coils is used to control the alternating formation of the first magnetic field and the second magnetic field.

[0026] Preferably, the resistance adjustment module uses a digital potentiometer RP. After the first magnetic field reaches the first magnetic field intensity, the adjustment instruction sent by the control module causes the resistance value in the circuit of the first magnetic field to decrease, and then the first magnetic field transitions from the first magnetic field intensity to the second magnetic field intensity.

[0027] A self-lubricating method for a planetary speed reducer, which is applied to a planetary speed reducer, includes the following steps:

[0028] At a set switching time interval, the control module sends a switching instruction. When the switching module receives the switching instruction for the first time, the induction coil forming the first magnetic field is energized, and the induction coil forming the second magnetic field is de-energized. At this moment, the first magnetic field is at the first magnetic field intensity (magnetic field intensity ≤ 10 mT) to ensure that the magnetic fluid flows completely.

[0029] After maintaining the first magnetic field intensity for 50 - 80 milliseconds, when the magnetic fluid completely flows into the blocking groove, the control module sends an adjustment instruction. The resistance adjustment module receives the adjustment instruction, causing the resistance value in the circuit of the first magnetic field to decrease. The first magnetic field transitions from the first magnetic field intensity to the second magnetic field intensity (magnetic field intensity ≥ 50 mT), making the magnetic fluid generate sufficient yield stress to seal the outlet, and the lubricating oil stays inside the oil storage tank.

[0030] When the switching module receives the switching instruction for the second time, the induction coil forming the first magnetic field is de-energized, and the induction coil forming the second magnetic field is energized. At this moment, the magnetic field intensity of the second magnetic field ≤ 10 mT to ensure that the magnetic fluid flows completely, and the magnetic fluid completely flows into the receiving groove.

[0031] And so on in a cycle.

[0032] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0033] By arranging a magnetic fluid that can be opened and closed at the outlet of the lubricating oil storage tank of the present invention, utilizing the fluidity and controllable characteristics of the magnetic fluid under the action of a magnetic field, and controlling the aggregation or dispersion state of the magnetic fluid at the outlet of the oil storage tank through the on-off and intensity change of the external magnetic field, the opening or closing of the outlet is realized, and further the outflow of the lubricating oil is controlled. The intermittent outflow of the lubricating oil avoids the accumulation of lubricating oil inside the planetary speed reducer. Different from the traditional lubrication method, it can not only ensure the long-term operation of the planetary speed reducer at high temperature, but also reduce the power loss caused by oil bath lubrication. Description of the Drawings

[0034] Figure 1 It is a schematic structural diagram of a self-lubricating planetary speed reducer proposed by the present invention;

[0035] Figure 2 It is a schematic internal structure diagram of a self-lubricating planetary speed reducer proposed by the present invention;

[0036] Figure 3Schematic cross-sectional structure diagram of an oil storage tank and an inclined plate in a self-lubricating planetary speed reducer proposed by the present invention;

[0037] Figure 4 Schematic circuit structure diagram between two induction coils and a power supply in a self-lubricating planetary speed reducer proposed by the present invention.

[0038] In the figure: 1. Oil storage tank; 2. Outlet; 3. Blocking groove; 4. Accommodating groove; 5. Housing; 6. Internal gear ring; 7. Planetary carrier; 8. Coupling; 9. Planetary gear; 10. Sun gear; 11. Inclined plate; 12. Magnetic layer; 13. Accommodating cylinder; 14. Iron core; 15. Heat insulation box. Specific embodiments

[0039] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0040] A self-lubricating planetary speed reducer includes:

[0041] An oil storage tank 1, which is arranged inside the planetary speed reducer and contains lubricating oil;

[0042] An outlet 2, which is opened at the bottom of the oil storage tank 1 and communicates the inside and outside of the oil storage tank 1;

[0043] A blocking groove 3, which is opened at the bottom of the oil storage tank 1 and is connected and coupled with the outlet 2;

[0044] An accommodating groove 4, which is opened at the bottom of the oil storage tank 1 and is connected and coupled with the blocking groove;

[0045] Magnetorheological fluid, a colloidal solution formed by dispersing nanoscale magnetic particles in a base liquid;

[0046] Among them, a first magnetic field and a second magnetic field are respectively arranged at both ends of the virtual connection line between the blocking groove 3 and the accommodating groove 4. When only the first magnetic field exists near the magnetorheological fluid, the magnetorheological fluid flows into the blocking groove 3. When only the second magnetic field exists near the magnetorheological fluid, the magnetorheological fluid flows into the accommodating groove 4. The magnetic field intensity of the first magnetic field has two states, namely:

[0047] The first magnetic field intensity ensures the complete flow of the magnetorheological fluid;

[0048] The second magnetic field intensity causes the magnetorheological fluid to generate sufficient yield stress to seal the outlet 2.

[0049] Through the above technical solution, a magnetorheological fluid that can be opened and closed is provided at the outlet 2 of the lubricating oil storage tank 1. By utilizing the fluidity and controllability of the magnetorheological fluid under the action of a magnetic field, the aggregation or dispersion state of the magnetorheological fluid at the outlet 2 of the storage tank 1 is controlled through the on / off and intensity change of the external magnetic field, thereby realizing the opening or closing of the outlet 2, and further controlling the outflow of the lubricating oil. The intermittent outflow of the lubricating oil avoids the accumulation of the lubricating oil inside the planetary reducer. Different from the traditional lubrication method, it can not only ensure the long-term operation of the planetary reducer at high temperature, but also reduce the power loss caused by oil bath lubrication.

[0050] The planetary reducer further includes a housing 5. An internal gear ring 6 is arranged inside the housing 5. The housing 5 is rotatably connected with a planetary carrier 7 and a coupling 8. The planetary carrier 7 is rotatably connected with three planetary gears 9 through bearings. All three planetary gears 9 are meshed and connected with the internal gear ring 6. The coupling 8 is coaxially and fixedly connected with a sun gear 10. The sun gear 10 is located between the three planetary gears 9 and is meshed and connected with the three planetary gears 9.

[0051] An inclined plate 11 is detachably arranged inside the housing 5 by bolts. A magnetic layer 12 is arranged on the side of the inclined plate 11 facing away from the outlet 2. One end of the inclined plate 11 close to the planetary gear 9 is flush with the planetary gear 9.

[0052] Through the above technical solution, the lubricating oil flowing out from the outlet 2 drops on the inclined plate 11. In order to avoid the pollution of the lubricating oil by the magnetorheological fluid, the magnetic layer 12 is used to continuously adsorb the lubricating oil falling on the inclined plate 11, tightly adsorb the magnetorheological fluid mixed in the lubricating oil on the inclined plate 11, and the lubricating oil slides down under the action of gravity and finally drops on the rotating planetary gear 9. The splash lubrication formed by the rotating force of the planetary gear 9 covers the sun gear 10, the planetary gear 9, the bearing and the planetary carrier 7.

[0053] Receiving cylinders 13 are arranged at two symmetrical positions of the housing 5. An iron core 14 is fixedly connected inside the receiving cylinder 13. An induction coil is wound around the iron core 14. A control system is also arranged on the housing 5. Both ends of the two induction coils are connected to the control system, and the on / off and magnetic field intensity of the two induction coils are controlled by the control system.

[0054] Through the above technical solution, when the two induction coils are energized, they respectively correspond to the first magnetic field and the second magnetic field.

[0055] The control system includes:

[0056] A power supply module for providing power;

[0057] A control module for receiving signals and sending control instructions;

[0058] A switching module for controlling the on / off of its circuit through the instruction of the control module and switching the connection state of the circuit;

[0059] and a resistance adjustment module for adjusting the resistance value in the first magnetic field circuit.

[0060] The switching module is set with a timing switching mode through a timer. When the set switching time interval is reached, the control module issues a switching instruction, and the first magnetic field and the second magnetic field are alternately formed by the intermittent on-off control of two relays respectively connected to two induction coils, where one relay is on and the other is off.

[0061] The resistance adjustment module uses a digital potentiometer RP. After the first magnetic field reaches the first magnetic field intensity, the control module issues an adjustment instruction, causing the resistance value in the circuit of the first magnetic field to decrease, and then the first magnetic field transitions from the first magnetic field intensity to the second magnetic field intensity.

[0062] Working principle:

[0063] When the planetary reducer starts to work, the control system starts synchronously. With a set switching time interval (such as 2 - 3 minutes), the control module issues a switching instruction. When the switching module receives the switching instruction for the first time, the induction coil forming the first magnetic field is energized, and the induction coil forming the second magnetic field is de-energized. At this moment, the first magnetic field is at the first magnetic field intensity (magnetic field intensity ≤ 10mT) to ensure the complete flow of the magnetorheological fluid. After maintaining the first magnetic field intensity for 50 - 80 milliseconds (the magnetorheological fluid completely flows into the blocking groove 3), the control module issues an adjustment instruction, and the resistance adjustment module receives the adjustment instruction, causing the resistance value in the circuit of the first magnetic field to decrease. The first magnetic field transitions from the first magnetic field intensity to the second magnetic field intensity (magnetic field intensity ≥ 50mT), enabling the magnetorheological fluid to generate sufficient yield stress to seal the outlet 2, and the lubricating oil stays inside the oil storage tank 1.

[0064] When the switching module receives the switching instruction for the second time, the induction coil forming the first magnetic field is de-energized, and the induction coil forming the second magnetic field is energized. At this moment, the magnetic field intensity of the second magnetic field ≤ 10mT to ensure the complete flow of the magnetorheological fluid, and the magnetorheological fluid completely flows into the receiving groove 4.

[0065] And so on in a cycle.

[0066] It should be noted that:

[0067] In this solution, the magnetorheological fluid selects a mineral oil-based MF matching gear oil that is the same as the lubricating oil base fluid, with a particle size ≤ 10nm, to avoid blocking the outlet 2 (the aperture of the outlet 2 ≥ 0.5mm). The small size effect of nanoscale particles can significantly reduce the van der Waals force between particles and inhibit aggregation and sedimentation at high temperatures; the thermal stability of the mineral oil base is better than that of ordinary oils and can withstand the high temperatures generated by the long-term operation of the planetary reducer (under normal operating conditions, the flash point of the mineral oil ≥ 150℃, which is much higher than the designed tolerance temperature of 80℃).

[0068] The housing 5 consists of two parts on the left and right and is fastened and connected by bolts. Of course, it can also be disassembled and separated.

[0069] The inclined plate 11 can be disassembled regularly to clean the attached magnetic fluid thereon, so as to ensure that the lubricating oil used for lubrication is not contaminated;

[0070] The fuel tank 1 is fixedly connected inside the casing 5 in a detachable manner by bolts. The fuel tank 1 has two feed ports, corresponding to the lubricating oil and the magnetic fluid respectively, for supplementing the lubricating oil and the magnetic fluid. A plug body for blocking is provided at the feed port, and the fuel tank 1 can also be removed as a whole for cleaning during regular maintenance;

[0071] Both ends of the induction coil can pass through the receiving cylinder 13 and be electrically connected to the circuit board carrying the control system, which is a conventional technology and will not be elaborated here. In this solution, considering the influence of the temperature generated during the operation of the planetary reducer itself on the circuit board, an insulating box 15 for physically isolating the circuit board is separately provided outside the casing 5. The material can be selected from ceramics and fiberglass materials, which are separated from the casing 5 to reduce heat conduction;

[0072] The power supply can be selected to access a main power supply (such as commercial power) and a backup power supply (such as a generator, a battery pack, etc.). A power filter and voltage stabilizer can be added to filter the input power supply to remove high-frequency interference, and at the same time, ensure that the voltage of the input power supply is stable within the allowable range through the voltage stabilizer to ensure the normal operation of the subsequent equipment;

[0073] The control module can be selected from a microcontroller (such as the STM32 series) or a programmable logic controller (PLC), which has multiple input and output interfaces for receiving signals and sending control instructions;

[0074] The switching module selects a relay K or a contactor suitable for the load current and voltage to realize the on-off switching of two circuits. Each circuit corresponds to a relay or a contactor, and its on-off is controlled by the instruction of the control module, so as to switch the connection state of the circuit;

[0075] Voltage and current sensors can also be added, which are respectively installed at the input and output ends of the two circuits to monitor the voltage and current values of the circuits in real time, and convert the analog signals into digital signals and then transmit them to the control module;

[0076] A status sensor can also be added to detect the contact state of the relay or the contactor to ensure the reliable execution of the switching action and avoid the situation of both circuits being powered on or not powered on at the same time caused by faults such as contact adhesion;

[0077] Refer to the appendix Figure 4 , S is the power supply, K is the relay, RP is the digital potentiometer, and N1 and N2 are the induction coils forming the first magnetic field and the induction coils forming the second magnetic field respectively;

[0078] Inclined Plate Guidance and Splash Lubrication: The lubricating oil droplets flowing out from outlet 2 fall on the inclined plate 11. After the magnetic layer 12 separates the magnetic fluid, the pure lubricating oil slides down along the inclined plate under the action of gravity to the top of the planet gear 9 (designed to be flush with the planet gear). When the planet gear rotates at high speed, the oil is thrown out by centrifugal force to form splash lubrication, covering the friction pairs such as the sun gear 10, the planet bearing and the planet carrier 7. The structural design with three evenly distributed planet gears can ensure that the oil evenly diffuses around under the action of centrifugal force;

[0079] Optimization of Intermittent Oil Supply Frequency: The control system described in this application sets the switching time interval through a timer. The duration of each oil supply is controlled within 50 - 80 milliseconds, and the single oil supply amount is precisely controllable. This "small amount but multiple times" oil supply mode can avoid the accumulation problem of traditional oil bath lubrication. At the same time, by using the agitation effect of the rotation of the planet gear, the fresh lubricating oil can be quickly distributed to each lubrication point to meet the lubrication requirements;

[0080] Component Compatibility: Both the base liquid of the magnetic fluid and the lubricating oil are in the mineral oil system, and their chemical properties are similar, which can minimize the risk of chemical reactions. In order to avoid chemical reactions, under normal operations, the surface of the magnetic particles can be specially coated (such as oleic acid, silane coupling agent) to enhance the dispersion stability in the base liquid and inhibit oxidation decomposition.

[0081] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent substitutions or changes, and all should be covered within the protection scope of the present invention.

Claims

1. A self-lubricating planetary speed reducer, characterized in that, Comprising: An oil storage tank (1), which is arranged inside the planetary speed reducer and contains lubricating oil; An outlet (2), which is opened at the bottom of the oil storage tank (1) and communicates with the inside and outside of the oil storage tank (1); A blocking groove (3), which is opened at the bottom of the oil storage tank (1) and is connected and coupled with the outlet (2); A receiving groove (4), which is opened at the bottom of the oil storage tank (1) and is connected and coupled with the blocking groove; Magnetorheological fluid, which is a colloidal solution formed by dispersing nanoscale magnetic particles in a base liquid; Wherein, a first magnetic field and a second magnetic field are respectively arranged at both ends of the virtual connection line between the blocking groove (3) and the receiving groove (4). When only the first magnetic field exists near the magnetorheological fluid, the magnetorheological fluid flows into the blocking groove (3). When only the second magnetic field exists near the magnetorheological fluid, the magnetorheological fluid flows into the receiving groove (4). The magnetic field intensity of the first magnetic field has two states, namely: The first magnetic field intensity, which ensures the complete flow of the magnetorheological fluid; The second magnetic field intensity, which enables the magnetorheological fluid to generate sufficient yield stress to seal the outlet (2).

2. The self-lubricating planetary speed reducer according to claim 1, wherein, The planetary speed reducer further includes a housing (5). An internal gear ring (6) is arranged inside the housing (5). The housing (5) is rotatably connected with a planetary carrier (7) and a coupling (8). The planetary carrier (7) is rotatably connected with three planetary gears (9) through bearings. The three planetary gears (9) are all meshed and connected with the internal gear ring (6). The coupling (8) is coaxially and fixedly connected with a sun gear (10). The sun gear (10) is located between the three planetary gears (9) and is meshed and connected with the three planetary gears (9).

3. The self-lubricating planetary speed reducer according to claim 2, characterized in that, An inclined plate (11) is detachably arranged inside the housing (5) by bolts. A magnetic layer (12) is arranged on the side of the inclined plate (11) facing away from the outlet (2). One end of the inclined plate (11) close to the planetary gear (9) is flush with the planetary gear (9).

4. A self-lubricating planetary reducer according to claim 2, characterized in that, Receiving cylinders (13) are arranged at two symmetrical positions of the housing (5). An iron core (14) is fixedly connected inside the receiving cylinder (13). An induction coil is wound around the iron core (14). A control system is further arranged on the housing (5). Both ends of the two induction coils are connected to the control system, and the on-off and magnetic field intensity of the two induction coils are controlled through the control system.

5. The self-lubricating planetary speed reducer according to claim 4, characterized in that, The control system includes: A power supply module, which is used to provide power; A control module, which is used to receive signals and send control instructions; A switching module, which controls the on-off of its circuit through the instruction of the control module and switches the connection state of the circuit; And a resistance adjustment module, which is used to adjust the resistance value in the circuit forming the first magnetic field.

6. A self-lubricating planetary speed reducer according to claim 5, characterized in that, The switching module is set with a timing switching mode through a timer. When the set switching time interval is reached, the control module issues a switching instruction, and the first magnetic field and the second magnetic field are alternately formed by the intermittent on-off of two relays respectively connected to the two induction coils, one opening and one closing.

7. A self-lubricating planetary speed reducer according to claim 5, characterized in that, The resistance adjustment module adopts a digital potentiometer RP. After the first magnetic field is formed to reach the first magnetic field intensity, an adjustment instruction issued by the control module causes the resistance value in the circuit of the first magnetic field to decrease, so that the first magnetic field transitions from the first magnetic field intensity to the second magnetic field intensity.

8. A self-lubricating method for a planetary speed reducer, characterized in that, Applied to the planetary speed reducer according to any one of claims 1-7, comprising the following steps: At the set switching time interval, the control module issues a switching instruction. The switching module receives the switching instruction for the first time, energizes the induction coil that forms the first magnetic field, and de-energizes the induction coil that forms the second magnetic field. At this moment, the first magnetic field is at the first magnetic field intensity, and the magnetic field intensity ≤ 10 mT to ensure that the ferrofluid flows completely; After maintaining the first magnetic field intensity for 50 - 80 milliseconds, the ferrofluid completely flows into the blocking groove (3). The control module issues an adjustment instruction, and the resistance adjustment module receives the adjustment instruction to decrease the resistance value in the circuit of the first magnetic field. The first magnetic field transitions from the first magnetic field intensity to the second magnetic field intensity, and the magnetic field intensity ≥ 50 mT to generate sufficient yield stress in the ferrofluid to seal the outlet (2), and the lubricating oil stays inside the oil storage tank (1); The switching module receives the switching instruction for the second time, de-energizes the induction coil that forms the first magnetic field, and energizes the induction coil that forms the second magnetic field. At this moment, the magnetic field intensity of the second magnetic field ≤ 10 mT to ensure that the ferrofluid flows completely, and the ferrofluid completely flows into the receiving groove (4); This cycle repeats.

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