Blade scraping and squeezing type actuator torque testing equipment based on magnetorheological technology

Abstract

A blade scraping and squeezing type actuator torque testing device based on the magneto-rheological technology comprises a shell, a magneto-rheological damping device is arranged in the shell, a flange connecting base is arranged at the upper end of the shell, the magneto-rheological damping device comprises a damping shell, the outer side of the damping shell is communicated with a controllable valve, the controllable valve is connected with a control system, and the control system is connected with the magneto-rheological damping device. A central rotating shaft is axially arranged on the right side of the circle center of the damping shell, the upper end of the central rotating shaft penetrates through the damping shell and extends out of the shell and the flange connecting seat, and a torque rotating speed sensor is arranged on the central rotating shaft between the shell and the damping shell. A plurality of strip-shaped mounting grooves are axially formed in the outer circumference of the blade support disc, blades are arranged in the mounting grooves, springs are arranged between the blades and the blade support disc, one ends of the blades abut against the springs, and the other ends of the blades abut against the damping shell. And an eccentric cavity formed among the damping shell, the blade bracket disc and the blades is filled with magnetorheological fluid.

Description

Technical Field

[0001] This invention relates to the field of electric actuator testing equipment, specifically to a torque testing device for a blade scraping actuator based on magnetorheological technology. Background Technology

[0002] Magnetorheological fluids (MRFs) are controllable fluids, suspensions composed of tiny soft magnetic particles with high permeability and low hysteresis, and non-magnetic liquids. Under zero magnetic field conditions, MRFs exhibit low-viscosity Newtonian fluid characteristics, while under a strong magnetic field, they exhibit high viscosity and low flowability. Magnetorheological dampers utilize these characteristics of MRFs; by changing the magnetic field strength applied to the MRF, different damping effects are produced. The stronger the magnetic field, the greater the damping produced by the MRF damper. However, in existing technologies, to obtain a wider damping adjustment range, the maximum magnetic field strength is typically increased by increasing the number or turns of the excitation coils. However, increasing the number or turns of the excitation coils reduces the response speed of magnetic field adjustment, and consequently, the adjustment speed of the MRF damping. For applications such as torque detection, the sensitivity of existing damping regulators is insufficient.

[0003] Patent document CN 114215875 A discloses a "magnetorheological damper and magnetorheological torque testing device". In this device, the magnetorheological fluid does not flow and the magnetorheological fluid has a shearing effect. The torque damping force generated by the shearing effect of the magnetorheological fluid is small. The application range of this device is narrow. In addition, the structure of this testing device is complex, the assembly and manufacturing costs are high, and the mass production economy is poor. Summary of the Invention

[0004] The purpose of this invention is to address the shortcomings of existing technologies by providing a torque testing device for blade scraping actuators based on magnetorheological technology.

[0005] The objective of this invention is achieved through the following solution: a torque testing device for a blade scraping actuator based on magnetorheological technology, comprising a housing, a magnetorheological damping device disposed within the housing, and a flange connection seat disposed at the upper end of the housing. The magnetorheological damping device includes a damping housing, the outer side of which is connected to a controllable valve, which is connected to a control system. A central rotating shaft is axially disposed on the right side of the center of the damping housing, the upper end of which passes through the damping housing and extends out of the housing and flange connection seat. A torque and speed sensor is disposed on the central rotating shaft between the housing and the damping housing. A blade support disk is disposed on the outer circumference of the central rotating shaft in the damping housing. Multiple strip-shaped mounting grooves are axially disposed on the outer circumference of the blade support disk, the height of which is less than the height of the blade support disk. Blades are disposed in the mounting grooves, and springs are disposed between the blades and the blade support disk. One end of the blade abuts against the spring, and the other end of the blade abuts against the damping housing. The eccentric cavity formed by the damping housing, the blade support disk, and the blades is filled with magnetorheological fluid.

[0006] The controllable valve includes an upper magnetic cover plate at the top, an outer magnetic cover plate on the right side, a lower baffle plate at the bottom, an upper baffle plate at the bottom of the upper magnetic cover plate, and an inner baffle plate connected to the damping shell. A central winding magnetic block is provided between each baffle plate and the cover plate. An excitation coil is wound around the outer circumference of the central winding magnetic block. An inner magnetic block is provided between the upper and lower ends of the lower baffle plate, the upper baffle plate, and the inner baffle plate.

[0007] The damping shell has a first intermediate connection hole and a second intermediate connection hole to connect the damping shell to the controllable valve.

[0008] The outer shell includes a base at the bottom, the upper end of which is connected and fixed to the outer cylinder, and a cover plate is provided at the upper end of the outer cylinder.

[0009] The control system includes a control box, which is connected to a data acquisition unit, an adjustable DC power supply, an electric actuator power supply, and an electric actuator speed opening regulator. The data acquisition unit is connected to a torque and speed sensor, and the adjustable DC power supply is connected to the torque and speed sensor and a controllable valve.

[0010] The upper circumference of the flange connector is provided with a plurality of first flange connection holes, and the lower circumference of the flange connector is provided with a plurality of second flange connection holes, the second flange connection holes being aligned with the upper cover plate connection holes on the upper cover plate.

[0011] The damping shell includes an upper circular cover plate at the top and a lower circular cover plate at the bottom, which are connected by an intermediate connecting cylinder.

[0012] The blade is a T-shaped blade, and the height of the end of the blade that abuts against the intermediate connecting cylinder is greater than the height of the end that abuts against the spring.

[0013] A spline groove is provided at the upper end of the central rotating shaft.

[0014] The advantages of this invention are: 1. The testing equipment has a simple structure, high assembly efficiency, and can reduce manufacturing costs; 2. Each component in the testing equipment is an independent module, which can be directly disassembled in case of failure, resulting in low troubleshooting and maintenance costs; 3. The testing equipment uses a mechanical structure of "blade scraping + spring pressing" to adapt to the torque range of different actuators by adjusting the spring force. The flow path of the magnetorheological fluid is divided into "independent cavity circulation" by the blades, making the damping adjustment more targeted. It is especially suitable for non-uniform speed and variable load testing scenarios of rotary actuators. 4. The testing equipment uses a single-coil magnetic circuit, which focuses the magnetic field onto the flow path of the magnetorheological fluid through a controllable valve. This results in less magnetic leakage and eliminates the need for synchronous power supply from dual coils, thus reducing energy loss. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the controllable valve structure of the present invention; Figure 3 This is a cross-sectional view of the present invention. Detailed Implementation

[0016] like Figures 1 to 3As shown, a torque testing device for a blade scraping actuator based on magnetorheological technology includes a housing. The housing includes a base 1 at the bottom, the upper end of which is connected and fixed to an outer cylinder 2. An upper cover plate 4 is provided at the upper end of the outer cylinder 2. A magnetorheological damping device is installed in the housing. A flange connection seat 5 is provided at the upper end of the housing. The upper circumference of the flange connection seat 5 is provided with multiple first flange connection holes 6, and the lower circumference of the flange connection seat 5 is provided with multiple second flange connection holes 9. The second flange connection holes 9 are aligned with the upper cover plate connection holes 4 on the upper cover plate 3. The magnetorheological damping device includes a damping housing, which includes an upper circular cover plate 11 at the upper end and a lower circular cover plate 14 at the lower end. The upper circular cover plate 11 and the lower circular cover plate 14 are connected by an intermediate connecting cylinder 13. The outer side of the damping housing is connected to a controllable valve 12. A first intermediate connecting hole 13-1 and a second intermediate connecting hole 13-2 are provided on the damping housing to connect the damping housing to the controllable valve 12. The controllable valve 12 is connected to the control system, which includes a control box 22. The control box 22 is connected to a data acquisition unit 20, an adjustable DC power supply 21, an electric actuator power supply 23, and an electric actuator speed opening regulator 24. The data acquisition unit 20 is connected to a torque and speed sensor 10, and the adjustable DC power supply 21 is connected to both the torque and speed sensor 10 and the controllable valve 12. The controllable valve 12 includes an upper magnetically conductive cover plate 12-1 at the upper end, an outer magnetically conductive cover plate 12-2 on the right side, a lower baffle plate 12-6 at the lower end, an upper baffle plate 12-7 at the lower end of the upper magnetically conductive cover plate 12-1, and an inner baffle plate 12-5 connected to the damping housing. A centrally wound magnetically conductive block 12-3 is provided between each baffle and cover plate. An excitation coil 12-4 is wound around the outer circumference of the centrally wound magnetically conductive block 12-3. An inner magnetically conductive block 12-8 is provided between the upper and lower ends of the lower baffle plate 12-6, the upper baffle plate 12-7, and the inner baffle plate 12-5. A central rotating shaft 8 is axially provided on the right side of the center of the damping housing, and a spline groove 7 is provided on the upper end of the central rotating shaft 8. The upper end of the central rotating shaft 8 extends through the damping housing and out of the housing and flange connection seat 5. A torque and speed sensor 10 is installed on the central rotating shaft 8 between the housing and the damping housing. A blade support disk 17 is installed on the outer circumference of the central rotating shaft 8 in the damping housing. Multiple strip-shaped mounting grooves are axially arranged on the outer circumference of the blade support disk 17. The height of the mounting grooves is less than the height of the blade support disk 17. Blades 16 are installed in the mounting grooves. A spring 15 is installed between the blade 16 and the blade support disk 17. One end of the blade 16 abuts against the spring 15, and the other end of the blade 16 abuts against the damping housing. The blade 16 is a T-shaped blade. The height of the end of the blade 16 that abuts against the intermediate connecting cylinder 13 is greater than the height of the end that abuts against the spring 15. The T-shaped structure of the blade 16 allows the magnetorheological fluid 18-1 to flow in the damping housing. The eccentric cavity 18 formed between the damping housing, the blade support disk 17, and the blade 16 is filled with magnetorheological fluid 18-1.

[0017] The electric actuator mounted on the flange connecting seat 5 transmits torque to the central rotating shaft 8 through the central shaft spline groove 7. The blade support disk 17 mounted on the central rotating shaft 8 rotates under the action of torque. The blades 16 mounted on the blade support disk 17 press against the intermediate connecting cylinder 13 under the action of the spring 15. The central rotating shaft 8 is concentrically mounted with the blade support disk 17 and eccentrically mounted with the intermediate connecting cylinder 13. The blades 16 divide the eccentric cavity 18 into multiple cavities of different sizes. The eccentric cavity 18 is filled with magnetorheological fluid 18-1. When the blade support disk 17 rotates, it drives the blades 16 to rotate. The blades 16 squeeze the magnetorheological fluid 18-1 in the eccentric cavity 18 into the divided small cavities in sequence, and it flows out from the first intermediate connecting hole 13-1 on the intermediate connecting cylinder 13. After passing through the controllable valve 12, it flows out from the second intermediate connecting hole 13 on the intermediate connecting cylinder 13. -2 flows in, and the flow cycle is counterclockwise. When the central shaft 8 rotates clockwise, the magnetorheological fluid 18-1 flows in the opposite direction. When the magnetorheological fluid 18-1 flows through the upper baffle 12-7 of the controllable valve 12, it forms a damping force (the damping is controlled by the current of the excitation coil 12-4). A magnetic circuit is formed by the upper magnetic cover 12-1, the outer magnetic cover 12-2, the central wound magnetic block 12-3, and the inner baffle 12-5, and the current is input through the excitation coil 12-4. The control box 22 controls the magnitude of the current output by the adjustable DC power supply 21 to the coil 12-4, which changes the magnitude of the magnetic field in the working gap 12-7 of the magnetorheological fluid, causing the fluid in the gap to undergo a magnetorheological effect, thereby hindering the flow of the magnetorheological fluid 18-1 in the eccentric cavity 18, thereby hindering the rotation of the intermediate blade support disk 17, forming a damping torque. The output torque and speed of the tested electric actuator can be obtained through the torque and speed sensor 10.

[0018] Testing steps: 1. First, connect the electric actuator under test to the flange connection seat 5 with bolts through the first flange connection hole 6. Then, connect the electric actuator power supply 23 and the electric actuator speed and opening regulator 24 to the electric actuator under test. 2. Based on the model of the electric actuator being tested, adjust the output current of the adjustable DC power supply 21 via the control box 22 to supply the excitation coil 12-4; 3. Based on the model of the tested electric actuator, adjust the speed of the electric actuator through the control box 22 and control the speed of the electric actuator mechanism through the opening regulator 24; 4. The detection data is collected by the data acquisition unit 20 and sent to the control box for analysis and display.

[0019] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications made to the present invention by those skilled in the art without departing from the spirit of the present invention shall fall within the protection scope of the present invention.

Claims

1. A torque testing device for a blade scraping actuator based on magnetorheological technology, comprising a housing, a magnetorheological damping device disposed within the housing, and a flange connection seat (5) disposed at the upper end of the housing, characterized in that: The magnetorheological damping device includes a damping shell, the outer side of which is connected to a controllable valve (12), which is connected to a control system. A central rotating shaft (8) is axially arranged on the right side of the center of the damping shell. The upper end of the central rotating shaft (8) passes through the damping shell and extends out of the shell to connect with the flange seat (5). A torque and speed sensor (10) is arranged on the central rotating shaft (8) between the shell and the damping shell. A blade support disk (17) is arranged on the outer circumference of the central rotating shaft (8) in the damping shell. Multiple strip-shaped mounting grooves are provided on the outer circumference of the blade support disk (17). The height of the mounting grooves is less than the height of the blade support disk (17). Blades (16) are installed in the mounting grooves. Springs (15) are installed between the blades (16) and the blade support disk (17). One end of the blade (16) abuts against the spring (15), and the other end of the blade (16) abuts against the damping shell. The eccentric cavity (18) formed between the damping shell, the blade support disk (17), and the blades (16) is filled with magnetorheological fluid (18-1).

2. The torque testing equipment for blade scraping actuators based on magnetorheological technology according to claim 1, characterized in that: The controllable valve (12) includes an upper magnetic cover plate (12-1) at the upper end, an outer magnetic cover plate (12-2) on the right side, a lower baffle plate (12-6) at the lower end, an upper baffle plate (12-7) at the lower end of the upper magnetic cover plate (12-1), and an inner baffle plate (12-5) connected to the damping shell. A central winding magnetic block (12-3) is provided between each baffle plate and the cover plate. An excitation coil (12-4) is wound around the outer circumference of the central winding magnetic block (12-3). An inner magnetic block (12-8) is provided between the upper and lower ends of the lower baffle plate (12-6), the upper baffle plate (12-7), and the inner baffle plate (12-5).

3. The torque testing device for a blade scraping actuator based on magnetorheological technology according to claim 1, characterized in that: The damping shell has a first intermediate connection hole (13-1) and a second intermediate connection hole (13-2) to connect the damping shell to the controllable valve (12).

4. The torque testing device for a blade scraping actuator based on magnetorheological technology according to claim 1, characterized in that: The outer shell includes a base (1) at the bottom, the upper end of which is connected and fixed to the outer cylinder (2), and an upper cover plate (4) is provided at the upper end of the outer cylinder (2).

5. The torque testing device for a blade scraping actuator based on magnetorheological technology according to claim 1, characterized in that: The control system includes a control box (22), which is connected to a data acquisition unit (20), an adjustable DC power supply (21), an electric actuator power supply (23), and an electric actuator speed opening regulator (24). The data acquisition unit (20) is connected to a torque and speed sensor (10), and the adjustable DC power supply (21) is connected to the torque and speed sensor (10) and a controllable valve (12).

6. The torque testing device for a blade scraping actuator based on magnetorheological technology according to claim 1, characterized in that: The upper circumference of the flange connecting seat (5) is provided with a plurality of first flange connecting holes (6), and the lower circumference of the flange connecting seat (5) is provided with a plurality of second flange connecting holes (9). The second flange connecting holes (9) are aligned with the upper cover plate connecting holes (4) on the upper cover plate (3).

7. The torque testing device for a blade scraping actuator based on magnetorheological technology according to claim 1, characterized in that: The damping shell includes an upper circular cover plate (11) at the top and a lower circular cover plate (14) at the bottom, which are connected by an intermediate connecting cylinder (13).

8. The torque testing device for a blade scraping actuator based on magnetorheological technology according to claim 1, characterized in that: The blade (16) is a T-shaped blade, and the height of the end of the blade (16) that abuts against the intermediate connecting cylinder (13) is greater than the height of the end that abuts against the spring (15).

9. The torque testing device for a blade scraping actuator based on magnetorheological technology according to claim 1, characterized in that: The upper end of the central rotating shaft (8) is provided with a spline groove (7).

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