A magnetorheological fluid-based drive device and method

Abstract

The application relates to the technical field of mechanical transmission, and particularly discloses a driving device and method based on magnetorheological fluid, which comprises a cylinder body internally provided with a liquid cavity, a transmission shaft coaxially arranged with the cylinder body, a piston located in the cylinder body and sleeved on the outer side of the transmission shaft, and a coil assembly arranged in the cylinder body and sleeved on the outer side of the liquid cavity; one end of the piston is located in the liquid cavity and separates the liquid cavity into cavity A and cavity B; magnetorheological fluid is stored in the cavity A and the cavity B; the piston is in transmission connection with the transmission shaft; one end of the transmission shaft is connected with a load through the cavity; the application utilizes a magnetic field to drive the phase change of the magnetorheological fluid to generate thrust, does not need external hydraulic pump stations, air compressors or large motors, has compact structure, and is suitable for installation environments with limited space; the magnetic field intensity generated by adjusting the magnetic coil can be used for accurately controlling the moving speed of the piston and the output force or torque, so that stepless speed regulation and position control are realized.

Description

Technical Field

[0001] This invention relates to the field of mechanical transmission technology, and more specifically, to a driving device and method based on magnetorheological fluid. Background Technology

[0002] In existing technologies, common driving methods are mainly divided into three categories: electric, hydraulic, and pneumatic, each with its own inherent limitations.

[0003] Electric drives offer precise control and fast response, but require a reduction gear, lack self-locking in the event of power failure, and are unsuitable for explosion-proof environments. Hydraulic drives offer high power density and large output force, but require an external pump station, pose a risk of leakage, and are complex. Pneumatic drives offer simple structure and low cost, but have slow response, low control precision, and generate noise.

[0004] In special operating conditions, such as confined spaces, underwater, vacuum, explosion-proof environments, and sterile medical settings, the limitations of traditional drive methods are particularly prominent. For example, valve operation in the confined spaces of hydropower stations, remote operation in nuclear facilities, joint drive of deep-sea robots, and sterile drive of medical surgical instruments all require a novel drive solution that is completely sealed, requires no external power source, has a compact structure, and offers good controllability.

[0005] Magnetorheological fluids are smart materials that exhibit low-viscosity Newtonian fluid properties in the absence of a magnetic field. Under the influence of an applied magnetic field, suspended particles align along magnetic field lines to form a chain-like structure, instantly transforming into Bingham fluids with considerable yield stress. They quickly return to a liquid state after the magnetic field is removed. This property has been applied in shock absorbers, clutches, and damping valves. However, in current technology, magnetorheological fluids are mainly used as control components, and there are no reports of them being used as a direct driving force source. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to provide a driving device and method based on magnetorheological fluid, which uses a magnetic field to drive the phase change of magnetorheological fluid to generate thrust, without the need for an external hydraulic pump station, air compressor or large motor, and has a compact structure, making it suitable for installation environments with limited space; The solution adopted by this invention to solve the technical problem is: A drive device based on magnetorheological fluid includes a cylinder with a liquid chamber inside, a drive shaft coaxially arranged with the cylinder, a piston located inside the cylinder and fitted outside the drive shaft, and a coil assembly located inside the cylinder and fitted outside the liquid chamber. One end of the piston is located inside the liquid chamber and divides the liquid chamber into chamber A and chamber B; magnetorheological fluid is stored in chamber A and chamber B. The piston is connected to the drive shaft; one end of the drive shaft passes through the cavity and is connected to the load. In use, by energizing the coil assembly, the magnetorheological fluid in cavity A or cavity B generates a magnetic field. Under the action of the magnetic field, the magnetic particles in the magnetorheological fluid arrange themselves into a chain-like structure along the magnetic field lines. The magnetorheological fluid instantly changes from a liquid state to a semi-solid state, generating significant yield stress and micro-expansion in volume, forming a thrust. This thrust pushes the piston to move along the axis of the cylinder and drives the transmission shaft to drive the load. Compared with the prior art, the present invention directly uses a magnetic field to drive the phase change of magnetorheological liquid to generate thrust, without the need for an external hydraulic pump station, air compressor or large motor. It has a compact structure and is suitable for installation environments with limited space. This invention utilizes the magnetic field generated by the coil assembly when it is energized, and the high yield stress characteristics of the magnetorheological fluid allow the piston to lock in its position naturally without the need for an additional braking device; maintaining the magnetic field requires only a tiny current, resulting in extremely low energy consumption; when the power is off, the magnetorheological fluid returns to a liquid state, and the piston can be manually operated, ensuring availability in emergency situations. This invention utilizes the millisecond-level response time of magnetorheological fluid to magnetic fields to achieve rapid load action; by adjusting the magnetic field strength, the piston movement speed and output force or torque can be precisely controlled to achieve stepless speed regulation and position control.

[0007] In some possible implementations, in order to effectively control the magnetorheological fluid within cavity A or cavity B, the load is driven by a drive shaft to perform forward and reverse movements and to lock; the coil assembly includes two sets of magnetic coils disposed outside the liquid cavity and used to supply a magnetic field for controlling the deformation of the magnetorheological fluid.

[0008] In some possible implementations, in order to effectively install the piston, cylinder, and drive shaft, the cylinder includes a cylinder body, an upper end cover located inside the cylinder body and connected to the cylinder body, and a lower end cover located inside the cylinder body and connected to the cylinder body; the upper end cover, lower end cover, and cylinder body cooperate to form a liquid chamber; The drive shaft is fitted inside the upper and lower end covers, with one end passing through the lower end cover and connected to the load.

[0009] In some possible implementations, in order to effectively control the rotational movement of the load through the present invention, the piston is screwed to the drive shaft; and the drive shaft is rotatably coupled to the cylinder.

[0010] In some possible implementations, in order to effectively control the load to move linearly using the present invention, the transmission shaft includes a mounting shaft with one end connected to the upper end cover, and a telescopic shaft coaxially arranged with and telescopically cooperating with the mounting shaft; a section of the telescopic shaft away from the mounting shaft passes through the lower end cover; the piston is fitted on the outside of the telescopic shaft and fixedly connected.

[0011] In some possible implementations, in order to effectively amplify the output force or output stroke, a gear and rack mechanism is provided between the piston and the telescopic shaft.

[0012] In some possible implementations, a pressure balancing system for controlling the pressure balance between chamber A and chamber B is provided on the outside of the cylinder.

[0013] In some possible implementations, the pressure balancing system includes two sets of compensating gas chambers disposed on the outside of the cylinder and connected one-to-one with chamber A and chamber B, and an elastic diaphragm disposed inside the compensating gas chamber and dividing the interior of the compensating gas chamber into chamber A and chamber B; chamber A is connected to chamber A or chamber B, and chamber B stores a gas medium.

[0014] In some possible implementations, the piston and the cylinder are sealed together, as are the piston and the drive shaft and the drive shaft and the cylinder; the piston is made of a magnetically conductive material, and a magnetic shield is provided on the outside of the cylinder at a position corresponding to the magnetic coil.

[0015] A driving method based on magnetorheological fluid, specifically referring to the aforementioned driving device based on magnetorheological fluid: Initial state: The coil assembly is not energized, the magnetorheological fluid in chambers A and B is in a low-viscosity liquid state, and the piston can move freely inside the cylinder; Forward drive: When energized, a magnetic coil located outside cavity A generates a magnetic field that acts on the magnetorheological fluid inside cavity A. The suspended particles in the magnetorheological fluid instantly align along the magnetic field lines into a chain-like structure, exhibiting a high yield stress state. The volume undergoes slight expansion, generating a phase change thrust. This phase change thrust pushes the piston to move towards cavity B, driving the load through the drive shaft. Conversely, reverse drive is achieved. During piston movement, the pressure balance system outside the cylinder controls the pressure balance between cavities A and B. When it is necessary to lock the load in motion, current is applied to both sets of magnetic coils simultaneously to lock the piston position.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: Compared with the prior art, the present invention directly uses a magnetic field to drive the phase change of magnetorheological liquid to generate thrust, without the need for an external hydraulic pump station, air compressor or large motor. It has a compact structure and is suitable for installation environments with limited space. This invention utilizes the magnetic field generated by the coil assembly when it is energized, and the high yield stress characteristics of the magnetorheological fluid allow the piston to lock in its position naturally without the need for an additional braking device; maintaining the magnetic field requires only a tiny current, resulting in extremely low energy consumption; when the power is off, the magnetorheological fluid returns to a liquid state, and the piston can be manually operated, ensuring availability in emergency situations. This invention utilizes the millisecond-level response time of magnetorheological fluid to magnetic fields to achieve rapid load action; by adjusting the magnetic field strength, the piston movement speed and output force or torque can be precisely controlled to achieve stepless speed regulation and position control. This invention can easily achieve rotary output, linear output or special motion trajectory by changing the connection relationship between the drive shaft and the piston, so as to meet the driving requirements of different loads, adapt to a variety of load types, and improve the versatility and utilization of the device. This invention, through a sealed fit, completely seals the magnetorheological fluid within the cylinder, fundamentally eliminating the risk of media leakage. It is suitable for applications with high requirements for cleanliness and safety, such as food and pharmaceuticals, nuclear facilities, and underwater equipment. Attached Figure Description

[0017] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is a side view of the present invention; Figure 3 This is a schematic diagram of the internal structure in Embodiment 1 of the present invention; Figure 4 This is a schematic diagram of the transmission shaft in Embodiment 1 of the present invention; in: 1. Cylinder body; 11. Cylinder block; 12. Upper end cover; 13. Lower end cover; 101. Cavity A; 102. Cavity B; 2. Drive shaft; 21. Output connector; 3. Piston; 4. Magnetic coil; 5. Pressure balancing system; 51. Elastic diaphragm; 501. Chamber A; 502, Chamber B. Detailed Implementation

[0018] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. The terms "first," "second," and similar terms used in this application do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Similarly, "a" or "one," etc., do not indicate a quantity limitation, but rather indicate the existence of at least one. In the implementation of this application, "and / or" describes the association relationship of related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. In the description of the embodiments of this application, unless otherwise stated, "multiple" means two or more. For example, multiple positioning posts refer to two or more positioning posts. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0019] The present invention will now be described in detail.

[0020] like Figures 1-4 As shown: A drive device based on magnetorheological fluid includes a cylinder 1 with a liquid chamber inside, a drive shaft 2 coaxially arranged with the cylinder 1, a piston 3 located inside the cylinder 1 and fitted outside the drive shaft 2, and a coil assembly arranged inside the cylinder 1 and fitted outside the liquid chamber. One end of the piston 3 is located inside the liquid chamber and divides the liquid chamber into chamber A101 and chamber B102; magnetorheological fluid is stored in chamber A101 and chamber B102. The piston 3 is connected to the drive shaft 2; one end of the drive shaft 2 passes through the cavity and is connected to the load through the output connector 21. In use, by energizing the coil assembly, the magnetorheological fluid in cavity A101 or cavity B102 generates a magnetic field. Under the action of the magnetic field, the magnetic particles in the magnetorheological fluid arrange themselves into a chain-like structure along the magnetic field lines. The magnetorheological fluid instantly changes from a liquid state to a semi-solid state, generating significant yield stress and micro-expansion in volume, forming a thrust. This thrust pushes the piston 3 to move along the axis of the cylinder 1 and drives the transmission shaft 2 to drive the load to move. Compared with the prior art, the present invention directly uses a magnetic field to drive the phase change of magnetorheological liquid to generate thrust, without the need for an external hydraulic pump station, air compressor or large motor. It has a compact structure and is suitable for installation environments with limited space. This invention utilizes the magnetic field generated by the coil assembly when it is energized, and the high yield stress characteristics of the magnetorheological fluid allow the piston 3 to be naturally locked in position without the need for an additional braking device; maintaining the magnetic field requires only a tiny current, resulting in extremely low energy consumption; when the power is off, the magnetorheological fluid returns to a liquid state, and the piston 3 can be manually operated to ensure availability in emergency situations. This invention utilizes the millisecond-level response time of magnetorheological fluid to magnetic fields to achieve rapid load action; by adjusting the magnetic field strength, the moving speed and output force or torque of piston 3 can be precisely controlled to achieve stepless speed regulation and position control.

[0021] In some possible implementations, in order to effectively control the magnetorheological fluid within cavity A101 or cavity B102, the load is driven to perform forward and reverse movements and locking via the drive shaft 2; the coil assembly includes two sets of magnetic coils 4 disposed outside the liquid cavity and used to supply a magnetic field for controlling the deformation of the magnetorheological fluid.

[0022] In some possible implementations, in order to effectively realize the installation of piston 3, cylinder 1, and drive shaft 2, the cylinder 1 includes cylinder body 11, upper end cover 12 located inside and connected to cylinder body 11, and lower end cover 13 located inside and connected to cylinder body 11; the upper end cover 12, lower end cover 13, and cylinder body 11 cooperate to form a liquid chamber. The drive shaft 2 is fitted inside the upper end cover 12 and the lower end cover 13, and one end passes through the lower end cover 13 and is connected to the load.

[0023] In some possible implementations, in order to effectively control the rotational movement of the load through the present invention, the piston 3 is screwed to the drive shaft 2; and the drive shaft 2 is rotatably coupled to the cylinder 1.

[0024] In some possible implementations, in order to effectively control the load to move linearly through the present invention, the transmission shaft 2 includes a mounting shaft with one end connected to the upper end cover 12, and a telescopic shaft coaxially arranged with the mounting shaft and telescopically cooperating with the mounting shaft; a section of the telescopic shaft away from the mounting shaft passes through the lower end cover 13; the piston 3 is fitted on the outside of the telescopic shaft and fixedly connected.

[0025] In some possible implementations, in order to effectively amplify the output force or output stroke, a gear and rack mechanism is provided between the piston 3 and the telescopic shaft.

[0026] In some possible implementations, in order to keep the pressure in cavity A101 and cavity B102 always in balance, a pressure balancing system 5 is provided on the outside of the cylinder 1 to control the pressure balance between cavity A101 and cavity B102.

[0027] In some possible implementations, the pressure balancing system 5 includes two sets of compensation gas chambers disposed on the outside of the cylinder 1 and connected one-to-one with chambers A101 and B102, and an elastic diaphragm 51 disposed in the compensation gas chambers and dividing the interior of the compensation gas chambers into chambers A501 and B502; chamber A501 is in communication with chamber A101 or chamber B102, and chamber B502 stores a gas medium. The gas medium can be a protective gas, such as nitrogen, helium, etc.; one set of compensation gas chambers is used to replenish the gas in chamber A501, and another set is used to replenish the gas in chamber B52. Specifically, when piston 3 moves towards the side closer to cavity B102, the chamber A501 connected to cavity B102 will increase, and the corresponding chamber B502 will decrease; conversely, the chamber A501 connected to cavity B102 will increase, and the corresponding chamber B502 will decrease, thereby controlling the pressure balance between cavity A101 and cavity B102.

[0028] In some possible implementations, the piston 3 is sealed to the cylinder 1, the piston 3 is sealed to the drive shaft 2, and the drive shaft 2 is sealed to the cylinder 1; the piston 3 is made of a magnetic material, and a magnetic shield is provided on the outside of the cylinder 1 at a position corresponding to the magnetic coil 4; Specifically, sealing rings are provided between piston 3 and the inner side of the liquid chamber, between piston 3 and the outer side of transmission shaft 2, and between transmission shaft 2 and the upper end cover 12 and lower end cover 13 of cylinder 1 to effectively prevent leakage of magnetorheological fluid. Furthermore, the sealing ring is made of oil-resistant and wear-resistant sealing materials, such as fluororubber and polytetrafluoroethylene.

[0029] By setting a magnetically conductive material to form a closed magnetic circuit, the magnetic field lines pass perpendicularly through the magnetorheological fluid cavity, enhancing the magnetic field strength and uniformity; at the same time, by setting a magnetic shield around the magnetic coil 4, the interference of the magnetic field on the external environment is reduced.

[0030] In this invention, the upper end cover 12, the lower end cover 13 and the cylinder body 11 are connected by bolts and sealed together.

[0031] A driving method based on magnetorheological fluid, specifically referring to the aforementioned driving device based on magnetorheological fluid: Initial state: The coil assembly is not energized, the magnetorheological fluid in cavity A101 and cavity B102 is in a low viscosity liquid state, and piston 3 can move freely in cylinder 1; Forward drive: When the magnetic coil 4 located on the periphery of cavity A101 is energized, the magnetic coil 4 generates a magnetic field that acts on the magnetorheological fluid inside cavity A101. The suspended particles in the magnetorheological fluid instantly align along the magnetic field lines into a chain-like structure, exhibiting a high yield stress state, causing slight volume expansion and generating phase change thrust. This phase change thrust pushes the piston 3 towards the cavity B102 side, driving the load to move through the drive shaft 2. Conversely, when the magnetic coil 4 located on the periphery of cavity B102 is energized, the magnetorheological fluid inside cavity B102 undergoes a phase change, pushing the piston towards the cavity A101 side and driving the load to move in the opposite direction. During the movement of the piston 3, the pressure balance system 5 on the outside of the cylinder 1 controls the pressure balance between cavity A101 and cavity B102. When it is necessary to lock the load in place, current is applied to both sets of magnetic coils 4 simultaneously to lock the position of piston 3. Specifically, if the load has no reverse force, and current is applied to both sets of magnetic coils 4, so that the yield stress generated by the magnetorheological fluid in cavity A101 is equal to the yield stress generated by the magnetorheological fluid in cavity B102, then the piston 3 is locked and no longer moves, and the action of the load will be locked and maintained. If there is a reverse force on the load, and current is applied to both sets of magnetic coils 4, so that the sum of the yield stress generated by the magnetorheological fluid in cavity A101 and the reverse force of the load is equal to the yield stress generated by the magnetorheological fluid in cavity B102, then the piston 3 will be locked and will no longer move. At this time, the action of the load will be locked and maintained.

[0032] Example 1: In this embodiment, the load needs to be rotated. At this time, the drive shaft 2 and the piston 3 will be screwed together, and the drive shaft 2 will be rotated together with the upper end cover 12 and the lower end cover 13. The piston 3, the drive shaft 2, and the cylinder 11 are coaxially arranged. One end of the drive shaft 2 passes through the lower end cover 13 and is connected to the load. The piston 3 is located inside the cylinder 11 and moves along the axial direction of the cylinder 11. Its end near the upper end cover 12 is located in the liquid cavity, dividing the liquid cavity into cavity A101 and cavity B102. Two sets of magnetic coils 4 are located outside cavity A101 and cavity B102. The two sets of magnetic coils 4 can use high magnetic permeability material as magnetic yokes to enhance magnetic field efficiency and focusing effect. Each magnetic coil 4 is independently controlled by the current adjustment module and can apply a magnetic field to cavity A101 and cavity B102 respectively. When the piston 3 moves linearly along the axis of the cylinder 11 under the action of magnetorheological liquid phase change thrust, since the transmission shaft 2 is screwed to the piston 3, the transmission shaft 2 is driven to rotate around the axis of the cylinder 11, thereby driving the load connected to one end of the transmission shaft 2 to rotate around the axis of the cylinder 11. Specifically, the thread lead of the thread structure used in the drive shaft 2 and piston 3 can be optimized according to the torque and stroke requirements of the actual application; it will not be described in detail here. A threaded groove is provided on the outside of the drive shaft 2, and a thread is provided in the piston 3 to cooperate with the threaded groove; the thread is arranged axially around the drive shaft 2.

[0033] In some possible implementations, an output connector 21 is provided at one end of the drive shaft 2 that passes through the lower end cover 13. The output connector 21 can be replaced according to different load types; when used for valve operation, it can be replaced with a valve clamp; when used for robot joints, it can be replaced with a flange; when used for gimbals, it can be replaced with a universal joint.

[0034] Furthermore, an indicator is also provided on the cylinder 11. This indicator is linked to the drive shaft 2 and transmits the rotation angle by mechanical, magnetic induction or photoelectric means to display the output position.

[0035] Specifically, bearings are respectively provided between the drive shaft 2 and the upper end cover 12 and the lower end cover 13, and the transmission is achieved through the bearings, so that the rotation of the drive shaft 2 is smooth. Furthermore, the present invention also includes a controller connected to the current regulation module and the indicator respectively. In use, the controller receives the position signal fed back by the indicator, compares it with the preset target position, and controls the current regulation module to adjust the current to the magnetic coil 4 through the PID algorithm to achieve closed-loop precise control. The controller can integrate remote operation function and supports both wired and wireless modes.

[0036] The working principle is as follows: During operation, first connect and fix the device to the load through the output connector 21; the operator issues commands through the controller from a safe position.

[0037] During forward drive, the controller energizes the magnetic coil 4 surrounding the liquid chamber A101, generating a magnetic field. Under the influence of this magnetic field, the magnetic particles in the magnetorheological fluid within chamber A101 align along the magnetic field lines to form a chain-like structure. The magnetorheological fluid instantly transforms from a liquid to a semi-solid state, generating significant yield stress and micro-volume expansion, thus creating thrust. This thrust pushes piston 3 towards chamber B102. The movement of piston 3 drives the transmission shaft 2 to rotate via a rotating thread, which in turn drives the load to operate through the output connector 21. During this process, the compensation gas chamber absorbs the pressure fluctuations caused by the movement of piston 3.

[0038] When reverse driving occurs, the magnetic coil 4 around cavity B102 is energized, causing the magnetorheological liquid inside cavity B102 to undergo a phase change, which pushes piston 3 to move in the reverse direction and drives the load to reverse action.

[0039] When it is necessary to keep the load in a certain position, an appropriate current can be applied to both magnetic coils 4 at the same time, so that the magnetorheological fluids on both sides maintain a certain yield stress, thereby locking the position of the piston 3. In this state, only a small current is needed to maintain the magnetic field, and the energy consumption is extremely low.

[0040] During operation, the indicator displays the output position in real time for operators to monitor; in case of emergency such as power failure, the magnetorheological fluid returns to a liquid state, and piston 3 can move freely. Operators can use manual tools to assist in operating the load, ensuring emergency availability.

[0041] Example 2: In this embodiment, it is necessary to control the load to move linearly. The main difference is that the drive shaft 2 and the piston 3 are either fixedly connected or integrally formed. The drive shaft 2 includes a mounting shaft connected to the upper end cover 12 and a telescopic shaft that is fitted inside the mounting section and coaxially telescopically cooperates with it. The telescopic shaft is fitted inside the piston 3 to form a whole. The end of the telescopic shaft away from the mounting shaft passes through the lower end cover 13 and is equipped with an output connector 21. This allows the piston 3 to move linearly, which in turn drives the telescopic shaft to move linearly along the axial direction of the cylinder 11 and drives the output connector 21 to move linearly, thereby driving the load to move linearly through linear output. The output connector 21 can be designed as a threaded joint, hinged seat, ball joint, etc., depending on the load type, and is suitable for applications such as linear push rods, lifting platforms, and clamping mechanisms. In use, the load can be controlled to move linearly along the axis of the transmission shaft 2 by energizing the magnetorheological fluid in cavity A101 or cavity B102. When the load movement position needs to be locked, the locking method is the same as in Example 1.

[0042] Example 3: This embodiment applies Embodiment 2 to a robot joint; wherein the cylinder 11 is fixed to a set of arms of the robot, and the output connector 21 is connected to another set of arms or an end effector; by precisely controlling the output angle and speed, flexible and precise movement of the robot joint is achieved.

[0043] Because the device of this invention has inherent self-locking characteristics, the robot joints can maintain their position when the power is off, which improves safety; at the same time, the completely sealed structure makes it suitable for scenarios with high cleanliness requirements, such as medical surgical robots and food processing robots.

[0044] Example 4: This embodiment applies Embodiment 1 or Embodiment 2 to an underwater work tool. Due to the completely sealed nature of this invention and the fact that it requires no external power source, it is particularly suitable for deep-sea environments. The cylinder 1 is made of corrosion-resistant materials, such as titanium alloy or 316L stainless steel, and the sealing ring adopts a pressure-resistant sealing design, enabling it to work reliably in high-pressure underwater environments. As can be seen from Examples 1-4, when the present invention is applied to underwater robot manipulators, underwater valve remote controls, deep-sea samplers and other scenarios, there is no need for complex pressure compensation systems and dynamic sealing designs.

[0045] This invention is not limited to the specific embodiments described above. The invention extends to any new feature or combination disclosed in this specification, as well as any new method or process step or combination disclosed herein.

Claims

1. A driving device based on magnetorheological fluid, characterized in that, It includes a cylinder with an internal liquid chamber, a drive shaft coaxially arranged with the cylinder, a piston located inside the cylinder and fitted outside the drive shaft, and a coil assembly located inside the cylinder and fitted outside the liquid chamber. One end of the piston is located inside the liquid chamber and divides the liquid chamber into chamber A and chamber B; magnetorheological fluid is stored in chamber A and chamber B. The piston is connected to the drive shaft; one end of the drive shaft passes through the cavity and is connected to the load.

2. The driving device based on magnetorheological fluid according to claim 1, characterized in that, The coil assembly includes two sets of magnetic coils disposed outside the liquid cavity and used to supply a magnetic field for controlling the deformation of the magnetorheological fluid.

3. The driving device based on magnetorheological fluid according to claim 1, characterized in that, The cylinder includes a cylinder body, an upper end cap located inside the cylinder body and connected to the cylinder body, and a lower end cap located inside the cylinder body and connected to the cylinder body; the upper end cap, the lower end cap, and the cylinder body cooperate to form a liquid cavity; The drive shaft is fitted inside the upper and lower end covers, with one end passing through the lower end cover and connected to the load.

4. The driving device based on magnetorheological fluid according to claim 1, characterized in that, The piston is screwed to the drive shaft; the drive shaft is rotatably connected to the cylinder.

5. The driving device based on magnetorheological fluid according to claim 1, characterized in that, The drive shaft includes a mounting shaft connected to the upper end cover at one end, and a telescopic shaft coaxially arranged with the mounting shaft and telescopically cooperating with the mounting shaft; a section of the telescopic shaft away from the mounting shaft passes through the lower end cover; the piston is fitted on the outside of the telescopic shaft and fixedly connected.

6. The driving device based on magnetorheological fluid according to claim 5, characterized in that, A gear and rack mechanism is provided between the piston and the telescopic shaft.

7. A drive device based on magnetorheological fluid according to any one of claims 1-6, characterized in that, A pressure balancing system for controlling the pressure balance between chamber A and chamber B is provided on the outside of the cylinder.

8. A driving device based on magnetorheological fluid according to claim 7, characterized in that, The pressure balancing system includes two sets of compensation gas chambers located on the outside of the cylinder and connected one-to-one with chamber A and chamber B, and an elastic diaphragm located inside the compensation gas chamber and dividing the interior of the compensation gas chamber into chamber A and chamber B; chamber A is connected to chamber A or chamber B, and chamber B stores a gas medium.

9. A drive device based on magnetorheological fluid according to any one of claims 1-6, characterized in that, The piston and the cylinder are sealed together, as are the piston and the drive shaft, and the drive shaft and the cylinder. The piston is made of magnetic material, and a magnetic shield is provided on the outside of the cylinder at a position corresponding to the magnetic coil.

10. A driving method based on magnetorheological fluid, characterized in that, The driving device based on magnetorheological fluid according to any one of claims 1-9 specifically refers to: Initial state: The coil assembly is not energized, the magnetorheological fluid in chambers A and B is in a low-viscosity liquid state, and the piston can move freely inside the cylinder; Forward drive: When energized, a magnetic coil located outside cavity A generates a magnetic field that acts on the magnetorheological fluid inside cavity A. The suspended particles in the magnetorheological fluid instantly align along the magnetic field lines into a chain-like structure, exhibiting a high yield stress state. The volume undergoes slight expansion, generating a phase change thrust. This phase change thrust pushes the piston to move towards cavity B, driving the load through the drive shaft. Conversely, reverse drive is achieved. During piston movement, the pressure balance system outside the cylinder controls the pressure balance between cavities A and B. When it is necessary to lock the load in motion, current is applied to both sets of magnetic coils simultaneously, so that the magnetorheological fluid in both cavity A and cavity B maintains the yield stress, thereby locking the piston position.

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