Coaxial double-valve-element magnetorheological valve with independent magnetic field and fluid control area

Abstract

The invention discloses a coaxial double-valve-element magneto-rheological valve with an independent magnetic field and a fluid control area. The coaxial double-valve-element magneto-rheological valve comprises a valve body assembly; the two valve element assemblies are arranged in the valve body in an up-down coaxial mode, and each valve element assembly comprises a valve element. The flow guide disc is horizontally installed between every two vertically-adjacent valve element assemblies. According to the coaxial double-valve-element magneto-rheological valve, the upper valve element and the lower valve element are coaxially arranged, and the magnetic field areas of the two valve elements are completely isolated through the magnetic isolation rings, so that each valve element has an independent magnetic field and an independent fluid control area, and different fluids or different fluid states can be treated in the same device; and higher control precision and quick response are realized. If one valve element breaks down, the other valve element can still work normally. The characteristic that the magnetorheological fluid rapidly changes the rheological property under the action of a magnetic field is utilized, flow and damping can be independently adjusted according to design, the device is suitable for application scenes with high dynamic requirements, and better fluid control capacity and system response characteristics are provided.

Description

Technical Field

[0001] The present invention relates to a magnetorheological valve, and specifically to a coaxial double spool magnetorheological valve with independent magnetic fields and fluid control regions. Background Art

[0002] The magnetorheological valve is the core device for intelligent fluid control based on magnetorheological fluid. As an intelligent material, magnetorheological fluid can achieve millisecond-level response regulation of flow performance under the action of an external magnetic field. By precisely adjusting the magnetic field intensity, the shear yield stress of the liquid can be linearly changed, thereby realizing dynamic and precise control of the fluid flow resistance. This characteristic enables the magnetorheological valve to exhibit unique advantages in scenarios requiring high-frequency dynamic response and high-precision flow control (such as intelligent shock absorption, industrial servo hydraulic systems, etc.).

[0003] The traditional single spool structure magnetorheological valve is limited by a single magnetic field excitation and a single flow channel design, and there are significant bottlenecks in dealing with multi-channel fluid control and dynamic response under complex working conditions: (1) The contradiction between response speed and control accuracy: In the single coil excitation mode, the magnetic field establishment time and the mechanical movement inertia of the spool are coupled with each other, making it difficult to achieve fast and high-precision control.

[0004] (2) Insufficient multi-channel fluid regulation ability: A single damping gap cannot meet the requirements of multi-branch independent flow distribution, and the coupling effect of the fluid path leads to a decrease in control accuracy.

[0005] (3) Limitation of magnetic field uniformity: The magnetic field distribution of the single spool structure is easily affected by the boundary effect, and the shear stress distribution of the magnetorheological fluid in the damping gap is uneven, resulting in an increase in the non-linear error of resistance regulation. Summary of the Invention

[0006] The purpose of the present invention is to provide a coaxial double spool magnetorheological valve with independent magnetic fields and fluid control regions to solve the problems mentioned in the above background art.

[0007] To achieve the above purpose, the present invention provides the following technical solutions: A coaxial double spool magnetorheological valve with independent magnetic fields and fluid control regions, comprising: A valve body assembly, including an annular valve body, an upper end cover and a lower end cover installed at both ends of the valve body. The upper end cover is provided with an oil inlet, and the lower end cover is provided with an oil outlet; The spool assembly, with more than two spool assemblies arranged coaxially up and down in the valve body and fixed by upper and lower end covers. The spool assembly includes a spool. An upper positioning disc is provided above the spool, and the bottom of the spool is connected to a lower positioning disc. A spring is provided between the spool and the lower positioning disc. A winding frame is sleeved between the upper positioning disc and the lower positioning disc, and an exciting coil is wound on the winding frame. A magnetic conduction ring is sleeved outside the upper positioning disc, the lower positioning disc and the exciting coil. A magnetic isolation ring is installed at the bottom of the lower positioning disc. A damping protrusion is provided at the upper end of the magnetic isolation ring, and the damping protrusion of the magnetic isolation ring is embedded in the bottom of the lower positioning disc. A flow guiding ring is sleeved outside the magnetic isolation ring, and a damping protrusion is provided at the upper end of the flow guiding ring. A damping gap is formed between the flow guiding ring and the magnetic conduction ring. A plurality of damping protrusions are provided at the top and circumferentially of the spool, and damping gaps are formed between the spool and the upper positioning disc and the lower positioning disc through the damping protrusions; through holes communicating with the damping gaps are provided at the centers of the upper positioning disc and the lower positioning disc; The flow guiding disc is horizontally installed between two adjacent spool assemblies up and down. A damping protrusion is provided at the upper end of the flow guiding disc, and the damping protrusion of the flow guiding disc is embedded in the bottom of the magnetic isolation ring of the upper spool assembly. A through hole communicating with the damping gap is opened at the center of the flow guiding disc.

[0008] As an improvement, both the upper end cover and the lower end cover are fixed to the valve body by six pressing bolts and sealed by sealing rings.

[0009] As an improvement, the upper positioning disc includes a positioning disc and a circular ring protrusion located at the lower end of the positioning disc. The circular ring protrusion is concentrically arranged with the positioning disc. The through hole is provided at the center of the positioning disc. A hole for placing the spool is provided inside the circular ring protrusion, and the hole communicates with the through hole at the center of the positioning disc. The diameter of the positioning disc of the upper positioning disc matches the inner diameter of the magnetic conduction ring.

[0010] As an improvement, the spool includes a spool disc and a cylindrical protrusion located at the upper end of the spool disc. The upper end of the cylindrical protrusion is located in the hole of the circular ring protrusion. A spring hole is provided at the center of the bottom of the spool disc, and a spring is installed in the spring hole. The bottom end of the spring is connected to the lower positioning disc.

[0011] As an improvement, damping protrusions are provided at the upper end, circumferentially of the cylindrical protrusion and circumferentially of the spool disc. The damping protrusions on the cylindrical protrusion contact the positioning disc of the upper positioning disc and the inner wall of the circular ring protrusion to form damping gaps, and the damping protrusions on the spool disc contact the inner wall of the lower positioning disc to form damping gaps.

[0012] As an improvement, the lower positioning disc includes a positioning disc. A circular groove for placing the spool disc is opened at the upper end of the positioning disc. A through hole communicating with the circular groove is opened at the center of the positioning disc. The diameter of the positioning disc in the lower positioning disc is the same as the outer diameter of the magnetic conduction ring.

[0013] As an improvement, the guiding ring of the upper spool assembly is in contact with the bottom surface of the upper end cover through damping protrusions, and the upper positioning disk is in contact with the bottom surface of the upper end cover; The guiding ring of the lower spool assembly is in contact with the bottom surface of the guiding disk through damping protrusions, and the upper positioning disk is in contact with the bottom surface of the guiding disk; The outer diameter of the guiding disk is the same as the inner diameter of the valve body, and the outer diameter of the guiding ring is smaller than the inner diameter of the valve body.

[0014] As an improvement, the oil inlet communicates with the through hole of the upper positioning disk in the upper spool assembly to form a flow channel; The upper end of the lower end cover is provided with damping protrusions, and the damping protrusions of the lower end cover are embedded into the bottom of the magnetic isolation ring in the lower spool assembly to form a damping gap, and the oil outlet communicates with the damping gap at the bottom of the lower spool assembly.

[0015] As an improvement, when any spool assembly fails, the other spool assembly can work independently.

[0016] Compared with the prior art, the present invention has at least the following beneficial effects: The present invention drives the magnetic spool to move axially through the excitation coil, dynamically adjusts the effective flow cross-sectional area of the damping gap, and at the same time uses the magnetic field generated by the excitation coil to change the dynamic viscosity of the magnetorheological fluid. Through the synergistic effect of mechanical gap control and magnetic field viscosity control, the precise control of the fluid resistance inside the valve body is realized, and finally the purpose of regulating the output pressure drop of the valve is achieved.

[0017] The coaxial double-spool magnetorheological valve of the present invention adopts a coaxial layout of two spools up and down, and completely isolates the magnetic field regions of the two spools through a magnetic isolation ring, so that each spool has an independent magnetic field and fluid control region, and different fluids or different fluid states can be processed in the same device, realizing higher control precision and fast response. If one of the spools fails, the other spool can still work normally. Utilizing the characteristic that the magnetorheological fluid rapidly changes its rheological properties under the action of a magnetic field, it is designed to independently adjust the flow rate and damping, and is suitable for application scenarios with high dynamic requirements, such as precision hydraulic control and vibration control, providing better fluid control capabilities and system response characteristics. Description of the Drawings

[0018] Figure 1 is a schematic structural diagram of the coaxial double-spool magnetorheological valve of the present invention; Figure 2 is a sectional view of the normal position of the coaxial double-spool magnetorheological valve of the present invention; Figure 3 is a sectional view and a magnetic field line schematic diagram of the working position of the first spool of the present invention; Figure 4 is a sectional view and a magnetic field line schematic diagram of the working position of the second spool of the present invention; Figure 5 These are the sectional views of the working positions of the two valve cores and the schematic diagram of magnetic field lines of the coaxial double-valve-core magnetorheological valve of the present invention; Figure 6 These are the schematic diagrams of the flow channels at the working positions of the two valve cores of the coaxial double-valve-core magnetorheological valve of the present invention; Figure 7 This is the exploded view of the overall structure of the present invention; In the figure: 1. Upper end cover; 2. First sealing ring; 3. First flow guiding ring; 4. First winding frame; 5. First valve core; 6. First lower positioning disc; 7. Flow guiding disc; 8. Second flow guiding ring; 9. Second winding frame; 10. Second valve core; 11. Second excitation coil; 12. Second sealing ring; 13. Lower end cover; 14. Compression bolt; 15. First upper positioning disc; 16. First magnetic conduction ring; 17. First excitation coil; 18. First spring; 19. First magnetic isolation ring; 20. Second upper positioning disc; 21. Valve body; 22. Second magnetic conduction ring; 23. Second spring; 24. Second lower positioning disc; 25. Second magnetic isolation ring; 26. Oil inlet; 27. Oil outlet. Specific embodiments

[0019] Next, the technical solutions in the embodiments of the present disclosure will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present disclosure.

[0020] Embodiment 1 Please refer to Figures 1 - 7 , a coaxial double-valve-core magnetorheological valve with independent magnetic field and fluid control regions, including a valve body assembly, a valve core assembly, and a flow guiding disc 7; The valve body assembly includes an annular valve body 21, an upper end cover 1 and a lower end cover 13 installed at both ends of the valve body 21. The center of the upper end cover 1 is provided with an oil inlet 26, and the center of the lower end cover 13 is provided with an oil outlet 27; The two valve core assemblies have the same structure and are arranged in the valve body 21 in a coaxial manner and fixed by upper and lower end covers. The valve core assembly includes a valve core, an upper positioning disk is provided above the valve core, the bottom of the valve core is connected to the lower positioning disk, a spring is provided between the valve core and the lower positioning disk, a winding frame is set between the upper positioning disk and the lower positioning disk, an excitation coil is wound on the winding frame, a magnetic conductive ring is set on the outer sides of the upper positioning disk, the lower positioning disk and the excitation coil, a magnetic isolation ring is installed at the bottom of the lower positioning disk, a damping protrusion is provided at the upper end of the magnetic isolation ring, the damping protrusion of the magnetic isolation ring is embedded in the bottom of the lower positioning disk, a guide ring is set on the outer side of the magnetic isolation ring, a damping protrusion is provided at the upper end of the guide ring, a damping gap is formed between the guide ring and the magnetic conductive ring, a plurality of damping protrusions are provided at the top and circumference of the valve core, and a damping gap is formed between the valve core and the upper positioning disk and the lower positioning disk through the damping protrusion; a through hole connected to the damping gap is provided in the center of the upper positioning disk and the lower positioning disk; The guide plate 7 is horizontally installed between two adjacent valve core assemblies, and a damping protrusion is provided at the upper end of the guide plate 7. The damping protrusion of the guide plate 7 is embedded in the bottom of the magnetic isolation ring of the upper valve core assembly. A through hole connected to the damping gap is opened in the center of the guide plate 7.

[0021] In the present invention, each valve core assembly is equipped with an independent excitation coil (wound on a winding frame), and the magnetic conductive ring and the magnetic isolation ring structure can realize independent control of the magnetic field in the upper and lower valve core areas. By adjusting the current intensity of different excitation coils, the magnetic field intensity of the upper and lower damping gaps can be changed respectively, and then the damping force of the fluid in different areas can be accurately controlled, which is suitable for complex working conditions that require multi-stage damping characteristics (such as high-precision hydraulic control systems). In addition, the upper and lower valve core assemblies are coaxially arranged, and the top, circumference and guide plate of each valve core are provided with damping protrusions to form multi-stage damping gaps (such as between the valve core and the positioning plate, between the guide ring and the magnetic conductive ring). The fluid needs to pass through the multi-stage damping gaps in sequence, which prolongs the fluid path and increases the action time of the magnetorheological fluid and the magnetic field, which can generate a stronger damping force. At the same time, the gap size is changed by adjusting the valve core position (under the action of the spring) to achieve continuous adjustment of the damping force.

[0022] In some embodiments, Figure 1 , Figure 2 and Figure 7 As shown, the upper end cover 1 and the lower end cover 13 are fixed to the valve body 21 by six clamping bolts 14, and are sealed by the first sealing ring 2 and the second sealing ring 12. Specifically, the valve body 21 is provided with bolt holes, and the valve body 21 is connected to the upper end cover 1 and the lower end cover 13 by six clamping bolts 14. The first sealing ring 2 and the second sealing ring 12 are respectively arranged at the connection between the upper end cover-valve body and the lower end cover-valve body to form a double sealing barrier.

[0023] In some specific embodiments,Figure 1 , Figure 2 and Figure 7 As shown in Figure 7 , the upper spool assembly includes a first upper positioning disk 15, a first flow guiding ring 3, a first winding frame 4, a first spool 5, a first lower positioning disk 6, a first magnetic conductive ring 16, a first exciting coil 17, a first spring 18, and a first magnetic isolation ring 19; the lower spool assembly includes a second flow guiding ring 8, a second winding frame 9, a second spool 10, a second exciting coil 11, a second upper positioning disk 20, a second magnetic conductive ring 22, a second spring 23, a second lower positioning disk 24, and a second magnetic isolation ring 25; Among them, the first upper positioning disk 15 and the second upper positioning disk 20 each include a positioning disk and a circular ring protrusion located at the lower end of the positioning disk. The circular ring protrusion is concentrically arranged with the positioning disk, reducing the shaking or stress concentration caused by eccentric loads and improving the positioning accuracy and mechanical stability; a through hole is provided at the center of the positioning disk, and a hole for placing the spool is provided inside the circular ring protrusion. The hole communicates with the through hole at the center of the positioning disk to form a continuous channel, facilitating the installation of the spool and the passage of fluid, and also achieving structural compactness and functional integration. The diameter of the positioning disk of the upper positioning disk matches the inner diameter of the magnetic conductive ring.

[0024] In some embodiments, as shown in Figure 2 , Figure 7 As shown in Figure 7 , the first spool 5 and the second spool 10 each include a spool disk and a cylindrical protrusion located at the upper end of the spool disk. The upper end of the cylindrical protrusion is located inside the hole of the circular ring protrusion. The hole inside the circular ring protrusion provides axial movement guidance for the cylindrical protrusion of the spool, ensuring that the axis of the spool is aligned when moving up and down, avoiding deviation or jamming. A spring hole is provided at the center of the bottom of the spool disk, and a spring is installed inside the spring hole. The lower end of the spring is connected to the lower positioning disk to form an elastic support.

[0025] In some embodiments, as shown in Figure 2 , Figure 7 As shown in Figure 7 , damping protrusions are provided at the upper end and circumferential direction of the cylindrical protrusion and at the circumferential direction of the spool disk. The damping protrusions on the cylindrical protrusion contact the positioning disk of the upper positioning disk and the inner wall of the circular ring protrusion to form a damping gap. The damping protrusions on the spool disk contact the inner wall of the lower positioning disk to form a damping gap. When the exciting coil is energized, a magnetic field will be formed inside the damping gap, and the viscosity of the magnetorheological fluid will increase rapidly under the action of the magnetic field, and the flow resistance will increase significantly. Multiple damping gaps expand the magnetic field action area, enabling more magnetorheological fluid to participate in the damping effect. When the spool moves, by changing the size of the axial gap (such as the spring compression amount), the effective flow cross-sectional area of the damping gap can be dynamically adjusted to more precisely control the fluid resistance.

[0026] In some embodiments, as shown in Figure 2 , Figure 7As shown, the first lower positioning disk 6 and the second lower positioning disk 24 both include a positioning disk. A circular groove for placing the valve core disk is opened at the upper end of the positioning disk. The circular groove can achieve the axial positioning and circumferential limit of the valve core disk, ensuring that the valve core remains vertical after assembly. A through hole communicating with the circular groove is opened at the center of the positioning disk. The diameter of the positioning disk in the lower positioning disk is the same as the outer diameter of the magnetic conductive ring.

[0027] In some embodiments, as Figure 2 , Figure 7 shown, the first flow guiding ring 3 of the upper side valve core assembly is connected to the bottom surface of the upper end cover 1 through damping protrusions, and the first upper positioning disk 15 is connected to the bottom surface of the upper end cover 1; the second flow guiding ring 8 of the lower side valve core assembly is connected to the bottom surface of the flow guiding disk 7 through damping protrusions, and the second upper positioning disk 20 is connected to the bottom surface of the flow guiding disk 7; The outer diameter of the flow guiding disk 7 is the same as the inner diameter of the valve body 21, forming a seamless radial butt joint in the valve body, which can guide the lower side valve core assembly to be accurately installed along the axis of the valve body. At the same time, it can prevent the flow guiding disk 7 itself from occurring radial offset under the action of fluid pressure, ensuring the coaxiality of the fluid channel. The outer diameter of the flow guiding ring is smaller than the inner diameter of the valve body 21. Damping gaps are respectively formed between the inner side of the valve body 21 and the outer sides of the first flow guiding ring 3 and the second flow guiding ring 8, forming a flow guiding space, allowing the fluid to pass smoothly outside the valve core assembly.

[0028] In some embodiments, as Figure 1 , Figure 2 and Figure 7 shown, the oil inlet 26 communicates with the through hole of the first upper positioning disk 15 in the upper side valve core assembly to form a flow channel; a damping protrusion is provided at the upper end of the lower end cover 13, and the damping protrusion of the lower end cover 13 is embedded into the bottom of the second magnetic isolation ring 25 in the lower side valve core assembly to form a damping gap. The oil outlet 27 communicates with the damping gap at the bottom of the lower side valve core assembly. The damping protrusion of the lower end cover 13 is embedded into the bottom of the magnetic isolation ring to form a damping gap. When the fluid passes through, the throttling effect of the gap can generate a damping force, effectively buffering the fluid pulse or pressure fluctuation, and avoiding the vibration, noise or component damage of the system caused by the impact. At the same time, the size (such as width, depth) of the damping gap can be flexibly adjusted through structural design to adapt to the damping strength requirements of different working conditions (such as a smaller gap is required in a precision control scenario to enhance the damping effect).

[0029] In some embodiments, the coaxial double-valve-core magnetorheological valve consists of two independent valve core assemblies arranged coaxially up and down. Each valve core assembly has an independent magnetic field and fluid control area. If one of the valve core assemblies fails, the other valve core assembly can still work normally. This redundant design improves the reliability and safety of the system and is suitable for application scenarios with high requirements for system stability.

[0030] Principle and process of use: As Figure 2 shown, when the first excitation coil 17 and the second excitation coil 11 are not energized, the first spool 5 and the second spool 10 are respectively under the action of the first spring 18 and the second spring 23. The bottoms of the first spool 5 and the second spool 10 respectively form damping gaps with the first lower positioning disc 6 and the second lower positioning disc 24. At this time, the first spring 18 and the second spring 23 are under compression, and the whole valve is in the normal open position.

[0031] As Figure 3 shown, when the first excitation coil 17 is energized and the second excitation coil 11 is not energized, the first spool 5 moves upward under the drive of the first excitation coil 17 and forms an adjustable damping gap with the first lower positioning disc 6. When the magnetorheological fluid passes through the damping gap, it is driven by the first excitation coil 17, so as to control the magnetic field strength in the damping gap, change the dynamic viscosity of the magnetorheological fluid, and thus change the resistance of the magnetorheological fluid flowing through the inside of the valve body, achieving the purpose of adjusting the output pressure drop of the valve. At this time, the first spring 18 is in the reset state, and the whole valve is in the working open position.

[0032] As Figure 4 shown, when the second excitation coil 11 is energized and the first excitation coil 17 is not energized, the second spool 10 moves upward under the drive of the second excitation coil 11 and forms an adjustable damping gap with the second lower positioning disc 24. When the magnetorheological fluid passes through the damping gap, it is driven by the second excitation coil 11, so as to control the magnetic field strength in the damping gap, change the dynamic viscosity of the magnetorheological fluid, and thus change the resistance of the magnetorheological fluid flowing through the inside of the valve body, achieving the purpose of adjusting the output pressure drop of the valve. At this time, the second spring 23 is in the reset state, and the whole valve is in the working open position.

[0033] As Figure 5 shown, when both the first excitation coil 17 and the second excitation coil 11 are energized, the first spool 5 moves upward under the drive of the first excitation coil 17 and forms an adjustable damping gap with the first lower positioning disc 6. The second spool 10 moves upward under the drive of the second excitation coil 11 and forms an adjustable damping gap with the second lower positioning disc 24. When the magnetorheological fluid passes through the damping gap, it is driven by the first excitation coil 17 and the second excitation coil 11, so as to control the magnetic field strength in the damping gap, change the dynamic viscosity of the magnetorheological fluid, and thus change the resistance of the magnetorheological fluid flowing through the inside of the valve body, achieving the purpose of adjusting the output pressure drop of the valve. At this time, the first spring 18 and the second spring 23 are in the reset state, and the whole valve is in the working open position.

[0034] It should be noted that, in this document, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprising", "including" or any other variation thereof are intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device.

[0035] For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. When an element is referred to as being "assembled on", "mounted on", "fixed to" or "disposed on" another element, it can be directly on the other element or there may also be an intermediate element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time. The terms "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation.

[0036] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

[0037] In the description of this specification, the description with reference to terms such as "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

Claims

1. A coaxial double spool magnetorheological valve with an independent magnetic field and fluid control region, characterized in that Comprising: A valve body assembly, including an annular valve body (21), an upper end cover (1) and a lower end cover (13) installed at both ends of the valve body (21). The upper end cover (1) is provided with an oil inlet (26), and the lower end cover (13) is provided with an oil outlet (27); A spool assembly, with more than two spool assemblies arranged coaxially up and down in the valve body (21) and fixed by the upper and lower end covers. The spool assembly includes a spool. An upper positioning disk is provided above the spool, and the bottom of the spool is connected to a lower positioning disk. A spring is provided between the spool and the lower positioning disk. A winding frame is sleeved between the upper positioning disk and the lower positioning disk, and an exciting coil is wound on the winding frame. A magnetic conductive ring is sleeved outside the upper positioning disk, the lower positioning disk and the exciting coil. A magnetic isolation ring is installed at the bottom of the lower positioning disk. A damping protrusion is provided at the upper end of the magnetic isolation ring, and the damping protrusion of the magnetic isolation ring is embedded in the bottom of the lower positioning disk. A flow guiding ring is sleeved outside the magnetic isolation ring. A damping protrusion is provided at the upper end of the flow guiding ring. A damping gap is formed between the flow guiding ring and the magnetic conductive ring. A plurality of damping protrusions are provided at the top and circumferences of the spool. The spool forms damping gaps with the upper positioning disk and the lower positioning disk through the damping protrusions; A through hole communicating with the damping gap is provided at the centers of the upper positioning disk and the lower positioning disk; A flow guiding disk (7) is horizontally installed between two adjacent spool assemblies up and down. A damping protrusion is provided at the upper end of the flow guiding disk (7), and the damping protrusion of the flow guiding disk (7) is embedded in the bottom of the magnetic isolation ring of the upper spool assembly. A through hole communicating with the damping gap is opened at the center of the flow guiding disk (7).

2. The coaxial double spool magneto-rheological valve with an independent magnetic field and fluid control region according to claim 1, wherein Both the upper end cover (1) and the lower end cover (13) are fixed to the valve body (21) by six compression bolts (14) and sealed by a sealing ring.

3. A coaxial double spool magnetorheological valve having an independent magnetic field and fluid control region according to claim 1, characterized in that The upper positioning disk includes a positioning disk and an annular protrusion located at the lower end of the positioning disk. The annular protrusion is concentric with the positioning disk. The through hole is provided at the center of the positioning disk. A hole for placing the spool is provided inside the annular protrusion, and the hole communicates with the through hole at the center of the positioning disk. The diameter of the positioning disk of the upper positioning disk matches the inner diameter of the magnetic conductive ring.

4. The coaxial double spool magnetorheological valve with an independent magnetic field and fluid control region according to claim 3, characterized in that The spool includes a spool disk and a cylindrical protrusion located at the upper end of the spool disk. The upper end of the cylindrical protrusion is located in the hole of the annular protrusion. A spring hole is provided at the center of the bottom of the spool disk, and a spring is installed in the spring hole. The bottom end of the spring is connected to the lower positioning disk.

5. The coaxial double spool magnetorheological valve with an independent magnetic field and fluid control region according to claim 4, characterized in that, Damping protrusions are provided at the upper end, circumferences of the cylindrical protrusion and the circumference of the spool disk. The damping protrusions on the cylindrical protrusion contact the positioning disk of the upper positioning disk and the inner wall of the annular protrusion to form damping gaps. The damping protrusions on the spool disk contact the inner wall of the lower positioning disk to form damping gaps.

6. The coaxial double spool magnetorheological valve with an independent magnetic field and fluid control region according to claim 4, wherein The lower positioning disk includes a positioning disk. A circular groove for placing the spool disk is opened at the upper end of the positioning disk. A through hole communicating with the circular groove is opened at the center of the positioning disk. The diameter of the positioning disk in the lower positioning disk is the same as the outer diameter of the magnetic conductive ring.

7. A coaxial double spool magnetorheological valve having an independent magnetic field and fluid control region according to claim 1, characterized in that, The flow guiding ring of the upper spool assembly is connected to the bottom surface of the upper end cover (1) through a damping protrusion, and the upper positioning disk is connected to the bottom surface of the upper end cover (1); The flow guiding ring of the lower spool assembly is connected to the bottom surface of the flow guiding disk (7) through a damping protrusion, and the upper positioning disk is connected to the bottom surface of the flow guiding disk (7); The outer diameter of the flow guiding disc (7) is the same as the inner diameter of the valve body (21), and the outer diameter of the flow guiding ring is smaller than the inner diameter of the valve body (21).

8. A coaxial double spool magneto-rheological valve having an independent magnetic field and fluid control region according to claim 1, wherein The oil inlet (26) communicates with the through hole of the upper positioning disc in the upper spool assembly to form a flow passage; A damping protrusion is provided at the upper end of the lower end cover (13). The damping protrusion of the lower end cover (13) is embedded into the bottom of the magnetic isolation ring in the lower spool assembly to form a damping gap, and the oil outlet (27) communicates with the damping gap at the bottom of the lower spool assembly.

9. The coaxial double spool magnetorheological valve with an independent magnetic field and fluid control region according to claim 1, wherein When any one of the spool assemblies fails, the other spool assembly can work independently.

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